{
    "task_name": "putting dishes away after cleaning",
    "data_folder": "",
    "meta_data": {
        "task_duration": 11481,
        "valid_duration": [
            189,
            11670
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                189,
                517
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                517,
                1246
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                1246,
                1745
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1745,
                1917
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1917,
                2154
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2154,
                2359
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2359,
                2556
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2556,
                2784
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_210",
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                2784,
                3117
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_209",
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                3117,
                3427
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3427,
                3784
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3784,
                4141
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4141,
                4323
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4323,
                4622
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_208",
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4622,
                5094
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_207",
                    "plate_209"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5094,
                5522
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5522,
                5967
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_212",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5967,
                6292
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6292,
                6501
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_213",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6501,
                6728
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6728,
                7027
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_213",
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7027,
                7386
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_212",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7386,
                7735
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7735,
                8144
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_214",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8144,
                8329
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8329,
                8915
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_211",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8915,
                9186
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9186,
                9966
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_211",
                    "plate_213"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9966,
                10334
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_214",
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10334,
                10761
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                10761,
                11210
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                11210,
                11670
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door",
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                189,
                1745
            ],
            "skill_idxes": [
                0,
                1,
                2
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "plate_209",
                        "plate_210"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_210",
                        "plate_209"
                    ],
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_209",
                    "plate_210"
                ],
                [
                    "plate_210",
                    "plate_209"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "low_level",
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                1745,
                3427
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8,
                9
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_207",
                        "plate_208"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_208",
                        "plate_207"
                    ],
                    [
                        "plate_210",
                        "plate_209"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_207",
                    "plate_208"
                ],
                [
                    "plate_208",
                    "plate_207"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3427,
                5522
            ],
            "skill_idxes": [
                10,
                11,
                12,
                13,
                14,
                15
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_212",
                        "plate_213"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_213",
                        "plate_212"
                    ],
                    [
                        "plate_208",
                        "plate_207"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_212",
                    "plate_213"
                ],
                [
                    "plate_213",
                    "plate_212"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5522,
                7735
            ],
            "skill_idxes": [
                16,
                17,
                18,
                19,
                20,
                21,
                22
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_214",
                        "plate_211"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_211",
                        "plate_214"
                    ],
                    [
                        "plate_213",
                        "plate_212"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_214",
                    "plate_211"
                ],
                [
                    "plate_211",
                    "plate_214"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7735,
                10761
            ],
            "skill_idxes": [
                23,
                24,
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door",
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                10761,
                11670
            ],
            "skill_idxes": [
                30,
                31
            ]
        }
    ]
}