{
    "task_name": "sorting vegetables",
    "data_folder": "",
    "meta_data": {
        "task_duration": 12947,
        "valid_duration": [
            0,
            12947
        ]
    },
    "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,
                430
            ],
            "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": [
                430,
                1145
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1145,
                1609
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "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": [
                1609,
                2097
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 4,
            "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": [
                2097,
                2210
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "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": [
                2210,
                2732
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "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": [
                2732,
                2823
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "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": [
                2823,
                3163
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3163,
                3360
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "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": [
                3360,
                3636
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "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": [
                3636,
                4107
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 11,
            "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": [
                4107,
                4330
            ],
            "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": [
                4330,
                4784
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4784,
                5019
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "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": [
                5019,
                5294
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5294,
                5668
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 16,
            "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": [
                5668,
                5997
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 17,
            "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": [
                5997,
                6268
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "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": [
                6268,
                6751
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6751,
                7879
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "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": [
                7879,
                8502
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8502,
                9375
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "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": [
                9375,
                9670
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 23,
            "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": [
                9670,
                9760
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "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": [
                9760,
                10009
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 25,
            "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": [
                10009,
                10079
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "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": [
                10079,
                10236
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 27,
            "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": [
                10236,
                10316
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "broccoli_209",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10316,
                10507
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10507,
                10597
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "broccoli_209",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10597,
                10657
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "broccoli_210",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10657,
                11098
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "broccoli_210",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "broccoli_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11098,
                11239
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "leek_208",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "leek_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11239,
                11609
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "leek_208",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "leek_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11609,
                11767
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "leek_207",
                    "wicker_basket_220"
                ]
            ],
            "manipulating_object_id": [
                "leek_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11767,
                12148
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "leek_207",
                    "mixing_bowl_224"
                ]
            ],
            "manipulating_object_id": [
                "leek_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12148,
                12449
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "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": [
                12449,
                12947
            ],
            "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,
                1145
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "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": [
                1145,
                5294
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6,
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "sweet_corn_211",
                        "sweet_corn_212",
                        "sweet_corn_213"
                    ],
                    "wicker_basket_221"
                ],
                [
                    [
                        "sweet_corn_211",
                        "sweet_corn_212",
                        "sweet_corn_213"
                    ],
                    "mixing_bowl_223"
                ]
            ],
            "manipulating_object_id": [
                [
                    "sweet_corn_211",
                    "sweet_corn_212",
                    "sweet_corn_213"
                ],
                [
                    "sweet_corn_211",
                    "sweet_corn_212",
                    "sweet_corn_213"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2823,
                6268
            ],
            "skill_idxes": [
                7,
                8,
                9,
                10,
                11,
                15,
                16,
                17
            ]
        },
        {
            "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": [
                6268,
                6751
            ],
            "skill_idxes": [
                18
            ]
        },
        {
            "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": [
                6751,
                8502
            ],
            "skill_idxes": [
                19,
                20
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "vidalia_onion_216",
                        "vidalia_onion_214",
                        "vidalia_onion_215"
                    ],
                    "wicker_basket_220"
                ],
                [
                    [
                        "vidalia_onion_216",
                        "vidalia_onion_214",
                        "vidalia_onion_215"
                    ],
                    "mixing_bowl_222"
                ]
            ],
            "manipulating_object_id": [
                [
                    "vidalia_onion_216",
                    "vidalia_onion_214",
                    "vidalia_onion_215"
                ],
                [
                    "vidalia_onion_216",
                    "vidalia_onion_214",
                    "vidalia_onion_215"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8502,
                10316
            ],
            "skill_idxes": [
                21,
                22,
                23,
                24,
                25,
                26,
                27
            ]
        },
        {
            "primitive_idx": 6,
            "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": [
                10316,
                12449
            ],
            "skill_idxes": [
                28,
                29,
                30,
                31,
                32,
                33,
                34,
                35,
                36
            ]
        },
        {
            "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": [
                12449,
                12947
            ],
            "skill_idxes": [
                37
            ]
        }
    ]
}