{
    "task_name": "wash dog toys",
    "data_folder": "",
    "meta_data": {
        "task_duration": 12255,
        "valid_duration": [
            0,
            12255
        ]
    },
    "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,
                369
            ],
            "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": [
                369,
                1494
            ],
            "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": [
                1494,
                2123
            ],
            "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": [
                2123,
                2888
            ],
            "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": [
                2888,
                4137
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "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": [
                4137,
                4716
            ],
            "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": [
                4716,
                4949
            ],
            "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": [
                4949,
                5261
            ],
            "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": [
                5261,
                5532
            ],
            "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": [
                5532,
                5893
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "softball_188",
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                "softball_188"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5893,
                6531
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "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": [
                6531,
                7305
            ],
            "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": [
                7305,
                7700
            ],
            "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": [
                7700,
                8071
            ],
            "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": [
                8071,
                8188
            ],
            "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": [
                8188,
                8624
            ],
            "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": [
                8624,
                8982
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "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": [
                8982,
                9584
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "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": [
                9584,
                10460
            ],
            "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": [
                10460,
                11061
            ],
            "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": [
                11061,
                12255
            ],
            "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,
                1494
            ],
            "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": [
                1494,
                4137
            ],
            "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"
                ],
                [
                    [
                        "softball_188",
                        "teddy_bear_190"
                    ],
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "softball_188",
                    "teddy_bear_190"
                ],
                [
                    "softball_188",
                    "teddy_bear_190"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "high_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                4137,
                7305
            ],
            "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"
                ],
                [
                    [
                        "teddy_bear_191",
                        "tennis_ball_189"
                    ],
                    "washer_ynwamu_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tennis_ball_189",
                    "teddy_bear_191"
                ],
                [
                    "teddy_bear_191",
                    "tennis_ball_189"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "middle_level",
                        "middle_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                7305,
                10460
            ],
            "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": [
                10460,
                11061
            ],
            "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": [
                11061,
                12255
            ],
            "skill_idxes": [
                20
            ]
        }
    ]
}