{
    "task_name": "putting dishes away after cleaning",
    "data_folder": "",
    "meta_data": {
        "task_duration": 9033,
        "valid_duration": [
            0,
            9033
        ]
    },
    "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": [
                0,
                453
            ],
            "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": [
                453,
                1116
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "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": [
                1116,
                1785
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1785,
                1997
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1997,
                2199
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2199,
                2349
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2349,
                2616
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "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": [
                2616,
                2811
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "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": [
                2811,
                3039
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3039,
                3168
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3168,
                3357
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3357,
                3603
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3603,
                3762
            ],
            "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": [
                3762,
                4152
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_207",
                    "plate_209"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4152,
                4341
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_208",
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4341,
                4536
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4536,
                5129
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_214",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5129,
                5292
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_211",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5292,
                5457
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5457,
                5802
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_214",
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5802,
                6054
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_211",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6054,
                6384
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6384,
                7125
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_212",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7125,
                7308
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_213",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7308,
                7497
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7497,
                7798
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_213",
                    "plate_211"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7798,
                8049
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_212",
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8049,
                8271
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                8271,
                8577
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                8577,
                9033
            ],
            "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": [
                0,
                1785
            ],
            "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_209",
                        "plate_210"
                    ],
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_209",
                    "plate_210"
                ],
                [
                    "plate_209",
                    "plate_210"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "low_level",
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                1785,
                3039
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_208",
                        "plate_207"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_207",
                        "plate_208"
                    ],
                    [
                        "plate_209",
                        "plate_210"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_208",
                    "plate_207"
                ],
                [
                    "plate_207",
                    "plate_208"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3039,
                4536
            ],
            "skill_idxes": [
                9,
                10,
                11,
                12,
                13,
                14,
                15
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_214",
                        "plate_211"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_214",
                        "plate_211"
                    ],
                    [
                        "plate_208",
                        "plate_207"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_214",
                    "plate_211"
                ],
                [
                    "plate_214",
                    "plate_211"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4536,
                6384
            ],
            "skill_idxes": [
                16,
                17,
                18,
                19,
                20,
                21
            ]
        },
        {
            "primitive_idx": 4,
            "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_211",
                        "plate_214"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_212",
                    "plate_213"
                ],
                [
                    "plate_213",
                    "plate_212"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6384,
                8271
            ],
            "skill_idxes": [
                22,
                23,
                24,
                25,
                26,
                27
            ]
        },
        {
            "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": [
                8271,
                9033
            ],
            "skill_idxes": [
                28,
                29
            ]
        }
    ]
}