{
    "task_name": "sorting household items",
    "data_folder": "",
    "meta_data": {
        "task_duration": 19686,
        "valid_duration": [0, 19686]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["sliding_door_tprpvb_10"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [0, 687],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 1,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["sliding_door_tprpvb_10"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [687, 1918],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bottle_of_detergent_227"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1919, 2844],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 3,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bottle_of_detergent_227", "hamper_226"]],
            "manipulating_object_id": ["bottle_of_detergent_227"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2844, 3715],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 4,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bottle_of_detergent_228", "hamper_226"]],
            "manipulating_object_id": ["bottle_of_detergent_228"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [3716, 4487],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["multi_station_furniture_sink_upwldu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4487, 5636],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 6,
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5636, 6772],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 7,
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [6772, 7391],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 8,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["box_of_sanitary_napkins_224"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [7392, 9022],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 9,
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9022, 9736],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 10,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["soap_dispenser_223"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9736, 10269],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 11,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["soap_dispenser_223", "hamper_225"]],
            "manipulating_object_id": ["soap_dispenser_223"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [10269, 10771],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 12,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["multi_station_furniture_sink_upwldu_0"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [10772, 12011],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 13,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["soap_dispenser_223", "multi_station_furniture_sink_upwldu_0"]],
            "manipulating_object_id": ["soap_dispenser_223"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [12011, 12855],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 14,
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [12855, 13560],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 15,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["hamper_225"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [13560, 14818],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 16,
            "skill_id": [90],
            "skill_description": ["push to"],
            "object_id": [["hamper_225", "robot"]],
            "manipulating_object_id": ["hamper_225"],
            "memory_prefix": [],
            "spatial_prefix": [["", "away"]],
            "frame_duration": [14819, 15619],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 17,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["toothbrush_221", "hamper_225"]],
            "manipulating_object_id": ["toothbrush_221"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15619, 16368],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 18,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["hamper_225"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16368, 16421],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 19,
            "skill_id": [90],
            "skill_description": ["push to"],
            "object_id": [["hamper_225", "robot"]],
            "manipulating_object_id": ["hamper_225"],
            "memory_prefix": [],
            "spatial_prefix": [["", "away"]],
            "frame_duration": [16421, 17049],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 20,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tube_of_toothpaste_222", "hamper_225"]],
            "manipulating_object_id": ["tube_of_toothpaste_222"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17049, 17395],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 21,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["coffee_cup_220"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [17396, 18389],
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18389, 19080],
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [19080, 19686],
            "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": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [0, 1918],
            "skill_idxes": [0, 1]
        },
        {
            "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_228", "bottle_of_detergent_227"], "multi_station_furniture_sink_upwldu_0"]],
            "manipulating_object_id": [["bottle_of_detergent_227", "bottle_of_detergent_228"], ["bottle_of_detergent_228", "bottle_of_detergent_227"]],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1919, 7391],
            "skill_idxes": [2, 3, 4, 5, 6, 7]
        },
        {
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [7392, 13560],
            "skill_idxes": [8, 9, 12, 14]
        },
        {
            "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"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9736, 12855],
            "skill_idxes": [10, 11, 12, 13]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [[["toothbrush_221", "tube_of_toothpaste_222"], "hamper_225"], [["toothbrush_221", "tube_of_toothpaste_222"], "coffee_cup_220"]],
            "manipulating_object_id": [["toothbrush_221", "tube_of_toothpaste_222"], ["toothbrush_221", "tube_of_toothpaste_222"]],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [13560, 19686],
            "skill_idxes": [15, 16, 17, 18, 19, 20, 21, 22, 23]
        }
    ]
}