{
    "task_name": "putting dishes away after cleaning",
    "data_folder": "",
    "meta_data": {
        "task_duration": 13167,
        "valid_duration": [
            30,
            13197
        ]
    },
    "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": [
                30,
                603
            ],
            "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": [
                603,
                2077
            ],
            "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": [
                2077,
                2657
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2657,
                3393
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_212",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3393,
                3708
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3708,
                3873
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_213",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3873,
                4290
            ],
            "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": [
                4290,
                4793
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_212",
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                "plate_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                4793,
                5125
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "plate_213",
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                "plate_213"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                5125,
                5448
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5448,
                5899
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_211",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5899,
                6256
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6256,
                6397
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_214",
                    "bar_udatjt_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6397,
                6922
            ],
            "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": [
                6922,
                7187
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_214",
                    "plate_212"
                ]
            ],
            "manipulating_object_id": [
                "plate_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7187,
                7570
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_211",
                    "plate_213"
                ]
            ],
            "manipulating_object_id": [
                "plate_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7570,
                8023
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8023,
                8304
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8304,
                8604
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8604,
                8721
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8721,
                9234
            ],
            "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": [
                9234,
                9511
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_207",
                    "plate_214"
                ]
            ],
            "manipulating_object_id": [
                "plate_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9511,
                9811
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_210",
                    "plate_211"
                ]
            ],
            "manipulating_object_id": [
                "plate_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9811,
                10258
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10258,
                10443
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10443,
                10982
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "plate_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10982,
                11443
            ],
            "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": [
                11443,
                11579
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_209",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "plate_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11579,
                11840
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "plate_208",
                    "plate_210"
                ]
            ],
            "manipulating_object_id": [
                "plate_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11840,
                12054
            ],
            "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": [
                12054,
                12380
            ],
            "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": [
                12380,
                13197
            ],
            "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": [
                30,
                2657
            ],
            "skill_idxes": [
                0,
                1,
                2
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "plate_212",
                        "plate_213"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_212",
                        "plate_213"
                    ],
                    "top_cabinet_lkxmne_1"
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_212",
                    "plate_213"
                ],
                [
                    "plate_212",
                    "plate_213"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "low_level",
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                2657,
                5448
            ],
            "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_211",
                        "plate_214"
                    ],
                    "bar_udatjt_0"
                ],
                [
                    [
                        "plate_214",
                        "plate_211"
                    ],
                    [
                        "plate_212",
                        "plate_213"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_211",
                    "plate_214"
                ],
                [
                    "plate_214",
                    "plate_211"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5448,
                8023
            ],
            "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_210",
                        "plate_207"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_207",
                        "plate_210"
                    ],
                    [
                        "plate_214",
                        "plate_211"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_210",
                    "plate_207"
                ],
                [
                    "plate_207",
                    "plate_210"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8023,
                10258
            ],
            "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_209",
                        "plate_208"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "plate_209",
                        "plate_208"
                    ],
                    [
                        "plate_207",
                        "plate_210"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "plate_209",
                    "plate_208"
                ],
                [
                    "plate_209",
                    "plate_208"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10258,
                12054
            ],
            "skill_idxes": [
                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": [
                12054,
                13197
            ],
            "skill_idxes": [
                30,
                31
            ]
        }
    ]
}