{
    "task_name": "can meat",
    "data_folder": "",
    "meta_data": {
        "task_duration": 13992,
        "valid_duration": [
            0,
            13992
        ]
    },
    "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,
                609
            ],
            "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": [
                609,
                1911
            ],
            "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": [
                1911,
                2648
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "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": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                2648,
                3603
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "right",
                    "left"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3603,
                3942
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                13
            ],
            "skill_description": [
                "open lid"
            ],
            "object_id": [
                [
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3942,
                4289
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bratwurst_231"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4289,
                4797
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_231",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4797,
                5270
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_231",
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5270,
                5575
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_230",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5575,
                6271
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_230",
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6271,
                6505
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                14
            ],
            "skill_description": [
                "close lid"
            ],
            "object_id": [
                [
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6505,
                6725
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6725,
                7106
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                7106,
                7791
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "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": [
                7791,
                9077
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "hinged_jar_235",
                    "left",
                    "right"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9077,
                9458
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                13
            ],
            "skill_description": [
                "open lid"
            ],
            "object_id": [
                [
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9458,
                9780
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bratwurst_232"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9780,
                10372
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_232",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_232"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10372,
                10719
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_232",
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_232"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10719,
                10896
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bratwurst_233",
                    "cutting_board_234"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_233"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10896,
                11192
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bratwurst_233",
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "bratwurst_233"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11192,
                11429
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                14
            ],
            "skill_description": [
                "close lid"
            ],
            "object_id": [
                [
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11429,
                11768
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11768,
                12064
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "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": [
                12064,
                12994
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                12994,
                13519
            ],
            "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": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                13519,
                13992
            ],
            "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,
                2648
            ],
            "skill_idxes": [
                0,
                1,
                2
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hinged_jar_236",
                        "bratwurst_231",
                        "bratwurst_230"
                    ],
                    [
                        "top_cabinet_lkxmne_2",
                        "cutting_board_234",
                        "cutting_board_234"
                    ]
                ],
                [
                    [
                        "bratwurst_231",
                        "bratwurst_230"
                    ],
                    "hinged_jar_236"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hinged_jar_236",
                    "bratwurst_231",
                    "bratwurst_230"
                ],
                [
                    "bratwurst_231",
                    "bratwurst_230"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level",
                        "",
                        ""
                    ]
                ],
                []
            ],
            "frame_duration": [
                2648,
                6725
            ],
            "skill_idxes": [
                3,
                4,
                5,
                6,
                7,
                8,
                9,
                10,
                11
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                4
            ],
            "primitive_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hinged_jar_236",
                    "top_cabinet_lkxmne_2"
                ]
            ],
            "manipulating_object_id": [
                "hinged_jar_236"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                6725,
                7791
            ],
            "skill_idxes": [
                12,
                13
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hinged_jar_235",
                        "bratwurst_232",
                        "bratwurst_233"
                    ],
                    [
                        "top_cabinet_lkxmne_2",
                        "cutting_board_234",
                        "cutting_board_234"
                    ]
                ],
                [
                    [
                        "bratwurst_232",
                        "bratwurst_233"
                    ],
                    "hinged_jar_235"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hinged_jar_235",
                    "bratwurst_232",
                    "bratwurst_233"
                ],
                [
                    "bratwurst_232",
                    "bratwurst_233"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "",
                        ""
                    ]
                ],
                []
            ],
            "frame_duration": [
                7791,
                11768
            ],
            "skill_idxes": [
                14,
                15,
                16,
                17,
                18,
                19,
                20,
                21,
                22
            ]
        },
        {
            "primitive_idx": 4,
            "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": [
                11768,
                12994
            ],
            "skill_idxes": [
                23,
                24
            ]
        },
        {
            "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": [
                12994,
                13992
            ],
            "skill_idxes": [
                25,
                26
            ]
        }
    ]
}