{
    "task_name": "sorting vegetables",
    "data_folder": "",
    "meta_data": {
        "task_duration": 11399,
        "valid_duration": [
            0,
            11399
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                579
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_221",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                579,
                1262
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    1262,
                    1649
                ],
                [
                    2074,
                    2155
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "sweet_corn_211",
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [
                "sweet_corn_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1649,
                2074
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "sweet_corn_211",
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [
                "sweet_corn_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2155,
                2259
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "sweet_corn_213",
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [
                "sweet_corn_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2259,
                2661
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "sweet_corn_213",
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [
                "sweet_corn_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2661,
                2822
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bok_choy_217",
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [
                "bok_choy_217"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2822,
                3055
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3055,
                3431
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bok_choy_217",
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                "bok_choy_217"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3431,
                3771
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bok_choy_218",
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [
                "bok_choy_218"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3771,
                3956
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bok_choy_218",
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                "bok_choy_218"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3956,
                4060
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bok_choy_219",
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [
                "bok_choy_219"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4060,
                4350
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bok_choy_219",
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                "bok_choy_219"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4350,
                4463
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    4463,
                    4696
                ],
                [
                    5028,
                    5169
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "sweet_corn_212",
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [
                "sweet_corn_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4696,
                5028
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "sweet_corn_212",
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [
                "sweet_corn_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5169,
                5508
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_221",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5508,
                6262
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6262,
                6642
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_220",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_220"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6642,
                7116
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    7116,
                    8305
                ],
                [
                    8507,
                    8636
                ]
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "broccoli_210",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8305,
                8507
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "broccoli_210",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8636,
                8733
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "broccoli_209",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8733,
                9006
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "broccoli_209",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9006,
                9078
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "leek_208",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "leek_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9078,
                9440
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "leek_208",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "leek_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9440,
                9553
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "leek_207",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "leek_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9553,
                9818
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "leek_207",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "leek_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9818,
                9947
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9947,
                10057
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "vidalia_onion_215",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_215"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10057,
                10260
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "vidalia_onion_215",
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_215"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10260,
                10349
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "vidalia_onion_214",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10349,
                10542
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "vidalia_onion_214",
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10542,
                10630
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "vidalia_onion_216",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_216"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10630,
                10751
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "vidalia_onion_216",
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_216"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10751,
                10881
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_220",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_220"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10881,
                11399
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_221",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                1262
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "sweet_corn_211",
                        "sweet_corn_213",
                        "sweet_corn_212"
                    ],
                    "wicker_basket_221"
                ],
                [
                    [
                        "sweet_corn_211",
                        "sweet_corn_213",
                        "sweet_corn_212"
                    ],
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [
                [
                    "sweet_corn_211",
                    "sweet_corn_213",
                    "sweet_corn_212"
                ],
                [
                    "sweet_corn_211",
                    "sweet_corn_213",
                    "sweet_corn_212"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    1262,
                    1649
                ],
                5508
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6,
                14,
                15,
                16
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bok_choy_217",
                        "bok_choy_218",
                        "bok_choy_219"
                    ],
                    "wicker_basket_221"
                ],
                [
                    [
                        "bok_choy_217",
                        "bok_choy_218",
                        "bok_choy_219"
                    ],
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bok_choy_217",
                    "bok_choy_218",
                    "bok_choy_219"
                ],
                [
                    "bok_choy_217",
                    "bok_choy_218",
                    "bok_choy_219"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2822,
                4463
            ],
            "skill_idxes": [
                7,
                8,
                9,
                10,
                11,
                12,
                13
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_221",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_221"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5508,
                6262
            ],
            "skill_idxes": [
                17
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_220",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_220"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6262,
                7116
            ],
            "skill_idxes": [
                18,
                19
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "broccoli_210",
                        "broccoli_209",
                        "leek_208",
                        "leek_207"
                    ],
                    "wicker_basket_220"
                ],
                [
                    [
                        "broccoli_210",
                        "broccoli_209",
                        "leek_208",
                        "leek_207"
                    ],
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                [
                    "broccoli_210",
                    "broccoli_209",
                    "leek_208",
                    "leek_207"
                ],
                [
                    "broccoli_210",
                    "broccoli_209",
                    "leek_208",
                    "leek_207"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                [
                    7116,
                    8305
                ],
                9947
            ],
            "skill_idxes": [
                20,
                21,
                22,
                23,
                24,
                25,
                26,
                27,
                28
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "vidalia_onion_215",
                        "vidalia_onion_214",
                        "vidalia_onion_216"
                    ],
                    "wicker_basket_220"
                ],
                [
                    [
                        "vidalia_onion_215",
                        "vidalia_onion_214",
                        "vidalia_onion_216"
                    ],
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                [
                    "vidalia_onion_215",
                    "vidalia_onion_214",
                    "vidalia_onion_216"
                ],
                [
                    "vidalia_onion_215",
                    "vidalia_onion_214",
                    "vidalia_onion_216"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9947,
                10881
            ],
            "skill_idxes": [
                29,
                30,
                31,
                32,
                33,
                34,
                35
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_220",
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_220"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10881,
                11399
            ],
            "skill_idxes": [
                36
            ]
        }
    ]
}