{
    "task_name": "putting dishes away after cleaning",
    "data_folder": "",
    "meta_data": {
        "task_duration": 9237,
        "valid_duration": [
            0,
            9237
        ]
    },
    "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,
                244
            ],
            "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": [
                244,
                1040
            ],
            "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": [
                1040,
                1680
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1680,
                1798
            ],
            "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": [
                1798,
                1956
            ],
            "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": [
                1956,
                2115
            ],
            "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": [
                2115,
                2342
            ],
            "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": [
                2342,
                2664
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "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": [
                2664,
                2858
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "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": [
                2858,
                3107
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3107,
                3246
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3246,
                3476
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3476,
                3663
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3663,
                3796
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3796,
                4120
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "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": [
                4120,
                4385
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_208",
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4385,
                4736
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4736,
                4995
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "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": [
                4995,
                5151
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5151,
                5262
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_214",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5262,
                5469
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5469,
                5760
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_211",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5760,
                6061
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_214",
                    "plate_208"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6061,
                6261
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6261,
                6882
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_212",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6882,
                7038
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7038,
                7493
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_213",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7493,
                7691
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7691,
                7935
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_212",
                    "plate_211"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7935,
                8072
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_213",
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8072,
                8281
            ],
            "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": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                8281,
                8635
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                8635,
                9237
            ],
            "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,
                1680
            ],
            "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": [
                1680,
                3107
            ],
            "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_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": [
                3107,
                4736
            ],
            "skill_idxes": [
                10,
                11,
                12,
                13,
                14,
                15,
                16
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_211",
                        "plate_214"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_211",
                        "plate_214"
                    ],
                    [
                        "plate_207",
                        "plate_208"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_211",
                    "plate_214"
                ],
                [
                    "plate_211",
                    "plate_214"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4736,
                6261
            ],
            "skill_idxes": [
                17,
                18,
                19,
                20,
                21,
                22,
                23
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "plate_212",
                        "plate_213"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_212",
                        "plate_213"
                    ],
                    [
                        "plate_211",
                        "plate_214"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_212",
                    "plate_213"
                ],
                [
                    "plate_212",
                    "plate_213"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6261,
                8281
            ],
            "skill_idxes": [
                24,
                25,
                26,
                27,
                28,
                29,
                30
            ]
        },
        {
            "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": [
                8281,
                9237
            ],
            "skill_idxes": [
                31,
                32
            ]
        }
    ]
}