{
    "task_name": "wash dog toys",
    "data_folder": "",
    "meta_data": {
        "task_duration": 11594,
        "valid_duration": [
            0,
            11594
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                742
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                742,
                2007
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2007,
                2615
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                2615,
                3287
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                3287,
                4278
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "softball_188",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "softball_188"
            ],
            "spatial_prefix": [
                [
                    "",
                    "reorient"
                ]
            ],
            "frame_duration": [
                4278,
                4696
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "softball_188",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "softball_188"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                4696,
                4956
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "teddy_bear_190",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "teddy_bear_190"
            ],
            "spatial_prefix": [
                [
                    "",
                    "reorient"
                ]
            ],
            "frame_duration": [
                4956,
                5194
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "teddy_bear_190",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "teddy_bear_190"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                5194,
                5439
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5439,
                5846
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "teddy_bear_190",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "teddy_bear_190"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5846,
                6414
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "softball_188",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "softball_188"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6414,
                6995
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tennis_ball_189"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6995,
                7465
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tennis_ball_189",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "tennis_ball_189"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                7465,
                7745
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "teddy_bear_191",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "teddy_bear_191"
            ],
            "spatial_prefix": [
                [
                    "",
                    "reorient"
                ]
            ],
            "frame_duration": [
                7745,
                7829
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "teddy_bear_191",
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [
                "teddy_bear_191"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                7829,
                8124
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8124,
                8607
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tennis_ball_189",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "tennis_ball_189"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8607,
                9168
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "teddy_bear_191",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "teddy_bear_191"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9168,
                10038
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10038,
                10767
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                69
            ],
            "skill_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "washer_ynwamu_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10767,
                11594
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                2007
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjrero_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door",
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                2007,
                4278
            ],
            "skill_idxes": [
                2,
                3,
                4
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "softball_188",
                        "teddy_bear_190"
                    ],
                    "bottom_cabinet_no_top_gjrero_0"
                ],
                [
                    [
                        "teddy_bear_190",
                        "softball_188"
                    ],
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "softball_188",
                    "teddy_bear_190"
                ],
                [
                    "teddy_bear_190",
                    "softball_188"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "high_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                4278,
                6995
            ],
            "skill_idxes": [
                5,
                6,
                7,
                8,
                9,
                10,
                11
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "tennis_ball_189",
                        "teddy_bear_191"
                    ],
                    "bottom_cabinet_no_top_gjrero_0"
                ],
                [
                    [
                        "tennis_ball_189",
                        "teddy_bear_191"
                    ],
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tennis_ball_189",
                    "teddy_bear_191"
                ],
                [
                    "tennis_ball_189",
                    "teddy_bear_191"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "middle_level",
                        "middle_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                6995,
                10038
            ],
            "skill_idxes": [
                12,
                13,
                14,
                15,
                16,
                17,
                18
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10038,
                10767
            ],
            "skill_idxes": [
                19
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                69
            ],
            "primitive_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "washer_ynwamu_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10767,
                11594
            ],
            "skill_idxes": [
                20
            ]
        }
    ]
}