{
    "task_name": "sorting vegetables",
    "data_folder": "",
    "meta_data": {
        "task_duration": 11180,
        "valid_duration": [
            9,
            11189
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9,
                726
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "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": [
                726,
                1382
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1382,
                2074
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "broccoli_209",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2074,
                2357
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "broccoli_209",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2357,
                2474
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "broccoli_210",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2474,
                2715
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "broccoli_210",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2715,
                2787
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "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": [
                2787,
                3040
            ],
            "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": [
                3040,
                3090
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "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": [
                3090,
                3147
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "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": [
                3147,
                3403
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 11,
            "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": [
                3403,
                3465
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "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": [
                3465,
                3720
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 13,
            "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": [
                3720,
                3865
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "leek_208",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "leek_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3865,
                4193
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4193,
                4270
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "leek_208",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "leek_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4270,
                4336
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "leek_207",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "leek_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4336,
                4660
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "leek_207",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "leek_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4660,
                4833
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "floors_kxcpgy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4833,
                5077
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "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": [
                5077,
                5608
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_221"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5608,
                6442
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "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": [
                6442,
                7096
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7096,
                7995
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "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": [
                7995,
                8315
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 25,
            "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": [
                8315,
                8475
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "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": [
                8475,
                8694
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 27,
            "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": [
                8694,
                8804
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "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": [
                8804,
                9209
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 29,
            "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": [
                9209,
                9341
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9341,
                9569
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 31,
            "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": [
                9569,
                9812
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 32,
            "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": [
                9812,
                9978
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "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": [
                9978,
                10224
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 34,
            "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": [
                10224,
                10302
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "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": [
                10302,
                10451
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 36,
            "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": [
                10451,
                10590
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "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": [
                10590,
                11189
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "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": [
                9,
                1382
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "broccoli_209",
                        "broccoli_210",
                        "leek_208",
                        "leek_207"
                    ],
                    "wicker_basket_220"
                ],
                [
                    [
                        "broccoli_209",
                        "broccoli_210",
                        "leek_208",
                        "leek_207"
                    ],
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                [
                    "broccoli_209",
                    "broccoli_210",
                    "leek_208",
                    "leek_207"
                ],
                [
                    "broccoli_209",
                    "broccoli_210",
                    "leek_208",
                    "leek_207"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1382,
                4833
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6,
                14,
                15,
                16,
                17,
                18
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "vidalia_onion_214",
                        "vidalia_onion_215",
                        "vidalia_onion_216"
                    ],
                    "wicker_basket_220"
                ],
                [
                    [
                        "vidalia_onion_214",
                        "vidalia_onion_215",
                        "vidalia_onion_216"
                    ],
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                [
                    "vidalia_onion_214",
                    "vidalia_onion_215",
                    "vidalia_onion_216"
                ],
                [
                    "vidalia_onion_214",
                    "vidalia_onion_215",
                    "vidalia_onion_216"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2787,
                3865
            ],
            "skill_idxes": [
                7,
                8,
                9,
                10,
                11,
                12,
                13
            ]
        },
        {
            "primitive_idx": 3,
            "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": [
                4833,
                5608
            ],
            "skill_idxes": [
                19,
                20
            ]
        },
        {
            "primitive_idx": 4,
            "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": [
                5608,
                7096
            ],
            "skill_idxes": [
                21,
                22
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bok_choy_219",
                        "bok_choy_217",
                        "bok_choy_218"
                    ],
                    "wicker_basket_221"
                ],
                [
                    [
                        "bok_choy_219",
                        "bok_choy_217",
                        "bok_choy_218"
                    ],
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bok_choy_219",
                    "bok_choy_217",
                    "bok_choy_218"
                ],
                [
                    "bok_choy_219",
                    "bok_choy_217",
                    "bok_choy_218"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7096,
                9341
            ],
            "skill_idxes": [
                23,
                24,
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "sweet_corn_213",
                        "sweet_corn_212",
                        "sweet_corn_211"
                    ],
                    "wicker_basket_221"
                ],
                [
                    [
                        "sweet_corn_213",
                        "sweet_corn_212",
                        "sweet_corn_211"
                    ],
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [
                [
                    "sweet_corn_213",
                    "sweet_corn_212",
                    "sweet_corn_211"
                ],
                [
                    "sweet_corn_213",
                    "sweet_corn_212",
                    "sweet_corn_211"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9341,
                10590
            ],
            "skill_idxes": [
                30,
                31,
                32,
                33,
                34,
                35,
                36
            ]
        },
        {
            "primitive_idx": 7,
            "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": [
                10590,
                11189
            ],
            "skill_idxes": [
                37
            ]
        }
    ]
}