{
    "task_name": "sorting household items",
    "data_folder": "",
    "meta_data": {
        "task_duration": 18620,
        "valid_duration": [
            0,
            18620
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                156
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hamper_225",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "hamper_225"
            ],
            "spatial_prefix": [
                [
                    "",
                    "away"
                ]
            ],
            "frame_duration": [
                156,
                1125
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "sliding_door_tprpvb_10"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1125,
                2136
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "sliding_door_tprpvb_10"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2136,
                3432
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_227"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3432,
                4065
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_227",
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_227"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4065,
                5121
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_228",
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_228"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5121,
                5688
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5688,
                6798
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                98
            ],
            "skill_description": [
                "place under"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_227",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_227"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6798,
                7809
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                98
            ],
            "skill_description": [
                "place under"
            ],
            "object_id": [
                [
                    "bottle_of_detergent_228",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_detergent_228"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7809,
                8454
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8454,
                10113
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224",
                    "hamper_226"
                ]
            ],
            "manipulating_object_id": [
                "box_of_sanitary_napkins_224"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10113,
                10794
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "soap_dispenser_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10794,
                11262
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "soap_dispenser_223",
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [
                "soap_dispenser_223"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11262,
                11664
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11664,
                13049
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "soap_dispenser_223",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "soap_dispenser_223"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13049,
                13708
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224",
                    "shelf_fjozhc_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_sanitary_napkins_224"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13708,
                14085
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tube_of_toothpaste_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                14085,
                14811
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tube_of_toothpaste_222",
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [
                "tube_of_toothpaste_222"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14811,
                15780
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hamper_225",
                    "robot"
                ]
            ],
            "manipulating_object_id": [
                "hamper_225"
            ],
            "spatial_prefix": [
                [
                    "",
                    "away"
                ]
            ],
            "frame_duration": [
                15780,
                16311
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "toothbrush_221",
                    "hamper_225"
                ]
            ],
            "manipulating_object_id": [
                "toothbrush_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16311,
                16719
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16719,
                17643
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "toothbrush_221",
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [
                "toothbrush_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17643,
                18159
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tube_of_toothpaste_222",
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [
                "tube_of_toothpaste_222"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18159,
                18620
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "sliding_door_tprpvb_10"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                3432
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                98
            ],
            "primitive_description": [
                "pick up from",
                "place under"
            ],
            "object_id": [
                [
                    [
                        "bottle_of_detergent_227",
                        "bottle_of_detergent_228"
                    ],
                    "hamper_226"
                ],
                [
                    [
                        "bottle_of_detergent_227",
                        "bottle_of_detergent_228"
                    ],
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bottle_of_detergent_227",
                    "bottle_of_detergent_228"
                ],
                [
                    "bottle_of_detergent_227",
                    "bottle_of_detergent_228"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3432,
                8454
            ],
            "skill_idxes": [
                4,
                5,
                6,
                7,
                8,
                9
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "box_of_sanitary_napkins_224",
                    "hamper_226"
                ],
                [
                    "box_of_sanitary_napkins_224",
                    "shelf_fjozhc_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_sanitary_napkins_224",
                "box_of_sanitary_napkins_224"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8454,
                14085
            ],
            "skill_idxes": [
                10,
                11,
                14,
                16
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "soap_dispenser_223",
                    "hamper_225"
                ],
                [
                    "soap_dispenser_223",
                    "multi_station_furniture_sink_upwldu_0"
                ]
            ],
            "manipulating_object_id": [
                "soap_dispenser_223",
                "soap_dispenser_223"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10794,
                13708
            ],
            "skill_idxes": [
                12,
                13,
                14,
                15
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "tube_of_toothpaste_222",
                        "toothbrush_221"
                    ],
                    "hamper_225"
                ],
                [
                    [
                        "toothbrush_221",
                        "tube_of_toothpaste_222"
                    ],
                    "coffee_cup_220"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tube_of_toothpaste_222",
                    "toothbrush_221"
                ],
                [
                    "toothbrush_221",
                    "tube_of_toothpaste_222"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14085,
                18620
            ],
            "skill_idxes": [
                17,
                18,
                19,
                20,
                21,
                22,
                23
            ]
        }
    ]
}