{
    "task_name": "can meat",
    "data_folder": "",
    "meta_data": {
        "task_duration": 15810,
        "valid_duration": [
            0,
            15810
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                840
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                840,
                2445
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                2445,
                3006
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hinged_jar_235",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                3006,
                4080
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "hinged_jar_235",
                    "left",
                    "right"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4080,
                4509
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "hinged_jar_235",
                    "right",
                    "left"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4509,
                4866
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                13
            ],
            "skill_description": [
                "open lid"
            ],
            "object_id": [
                [
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4866,
                5190
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bratwurst_233"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5190,
                6270
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_233",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_233"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6270,
                6768
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_233",
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_233"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6768,
                7131
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_230",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7131,
                7362
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_230",
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7362,
                7569
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                14
            ],
            "skill_description": [
                "close lid"
            ],
            "object_id": [
                [
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7569,
                7821
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7821,
                8439
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hinged_jar_235",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                8439,
                9081
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                9081,
                10041
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "left",
                    "right"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10041,
                10371
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                13
            ],
            "skill_description": [
                "open lid"
            ],
            "object_id": [
                [
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10371,
                10763
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bratwurst_231"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10763,
                11448
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_231",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11448,
                11925
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_231",
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11925,
                12213
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_232",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_232"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12213,
                12588
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_232",
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_232"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12588,
                12864
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                14
            ],
            "skill_description": [
                "close lid"
            ],
            "object_id": [
                [
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12864,
                13266
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13266,
                14164
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                14181,
                14904
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                14904,
                15468
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                15468,
                15810
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door",
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                0,
                3006
            ],
            "skill_idxes": [
                0,
                1,
                2
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hinged_jar_235",
                        "bratwurst_233",
                        "bratwurst_230"
                    ],
                    [
                        "top_cabinet_lkxmne_2",
                        "cutting_board_234",
                        "cutting_board_234"
                    ]
                ],
                [
                    [
                        "bratwurst_233",
                        "bratwurst_230"
                    ],
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hinged_jar_235",
                    "bratwurst_233",
                    "bratwurst_230"
                ],
                [
                    "bratwurst_233",
                    "bratwurst_230"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "",
                        ""
                    ]
                ],
                []
            ],
            "frame_duration": [
                3006,
                7821
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8,
                9,
                10,
                11,
                12
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                4
            ],
            "primitive_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hinged_jar_235",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                7821,
                9081
            ],
            "skill_idxes": [
                13,
                14
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hinged_jar_236",
                        "bratwurst_231",
                        "bratwurst_232"
                    ],
                    [
                        "top_cabinet_lkxmne_2",
                        "cutting_board_234",
                        "cutting_board_234"
                    ]
                ],
                [
                    [
                        "bratwurst_231",
                        "bratwurst_232"
                    ],
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hinged_jar_236",
                    "bratwurst_231",
                    "bratwurst_232"
                ],
                [
                    "bratwurst_231",
                    "bratwurst_232"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "",
                        ""
                    ]
                ],
                []
            ],
            "frame_duration": [
                9081,
                13266
            ],
            "skill_idxes": [
                15,
                16,
                17,
                18,
                19,
                20,
                21,
                22,
                23
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                4
            ],
            "primitive_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                13266,
                14904
            ],
            "skill_idxes": [
                24,
                25
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door",
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                14904,
                15810
            ],
            "skill_idxes": [
                26,
                27
            ]
        }
    ]
}