{
    "task_name": "storing food",
    "data_folder": "",
    "meta_data": {
        "task_duration": 22119,
        "valid_duration": [
            0,
            22119
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                930
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                930,
                1831
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bag_of_chips_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1831,
                2428
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bag_of_chips_212",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "bag_of_chips_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2428,
                2823
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bag_of_chips_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2823,
                3356
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bag_of_chips_211",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "bag_of_chips_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3356,
                3808
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3808,
                4655
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bag_of_chips_211",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bag_of_chips_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_3"
                ]
            ],
            "frame_duration": [
                4655,
                4949
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bag_of_chips_212",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bag_of_chips_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_3"
                ]
            ],
            "frame_duration": [
                4949,
                5437
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "jar_of_sugar_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5437,
                6213
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "jar_of_sugar_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "jar_of_sugar_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6213,
                6660
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "jar_of_sugar_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6660,
                7184
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "jar_of_sugar_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "jar_of_sugar_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7184,
                7550
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7550,
                8414
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "jar_of_sugar_207",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "jar_of_sugar_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_2"
                ]
            ],
            "frame_duration": [
                8414,
                8982
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "jar_of_sugar_208",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "jar_of_sugar_208"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_2"
                ]
            ],
            "frame_duration": [
                8982,
                9552
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9552,
                10472
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_olive_oil_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10472,
                10762
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_olive_oil_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10762,
                11294
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11294,
                12210
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_olive_oil_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_2"
                ]
            ],
            "frame_duration": [
                12210,
                12838
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bottle_of_olive_oil_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_2"
                ]
            ],
            "frame_duration": [
                12838,
                13523
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13523,
                14273
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                14273,
                14520
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                99
            ],
            "skill_description": [
                "tip over"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14520,
                14616
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                14616,
                15141
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15141,
                16036
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16036,
                16650
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                16650,
                17291
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [
                [
                    "",
                    "center"
                ]
            ],
            "frame_duration": [
                17291,
                17610
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                17610,
                18563
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                99
            ],
            "skill_description": [
                "tip over"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18563,
                18846
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                18846,
                19104
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19104,
                20029
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                20029,
                20851
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                20851,
                21274
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [
                [
                    "",
                    "center"
                ]
            ],
            "frame_duration": [
                21274,
                21520
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                21520,
                22119
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                0,
                1831
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bag_of_chips_212",
                        "bag_of_chips_211"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "bag_of_chips_211",
                        "bag_of_chips_212"
                    ],
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bag_of_chips_212",
                    "bag_of_chips_211"
                ],
                [
                    "bag_of_chips_211",
                    "bag_of_chips_212"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_3",
                        "layer_3"
                    ]
                ]
            ],
            "frame_duration": [
                1831,
                5437
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6,
                7,
                8
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "jar_of_sugar_207",
                        "jar_of_sugar_208"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "jar_of_sugar_207",
                        "jar_of_sugar_208"
                    ],
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "jar_of_sugar_207",
                    "jar_of_sugar_208"
                ],
                [
                    "jar_of_sugar_207",
                    "jar_of_sugar_208"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_2",
                        "layer_2"
                    ]
                ]
            ],
            "frame_duration": [
                5437,
                9552
            ],
            "skill_idxes": [
                9,
                10,
                11,
                12,
                13,
                14,
                15
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bottle_of_olive_oil_209",
                        "bottle_of_olive_oil_210"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "bottle_of_olive_oil_210",
                        "bottle_of_olive_oil_209"
                    ],
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bottle_of_olive_oil_209",
                    "bottle_of_olive_oil_210"
                ],
                [
                    "bottle_of_olive_oil_210",
                    "bottle_of_olive_oil_209"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_2",
                        "layer_2"
                    ]
                ]
            ],
            "frame_duration": [
                9552,
                13523
            ],
            "skill_idxes": [
                16,
                17,
                18,
                19,
                20,
                21
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213",
                    "countertop_kelzer_0"
                ],
                [
                    "box_of_oatmeal_213",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213",
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                13523,
                17610
            ],
            "skill_idxes": [
                22,
                23,
                24,
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214",
                    "countertop_kelzer_0"
                ],
                [
                    "box_of_oatmeal_214",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214",
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                17610,
                21520
            ],
            "skill_idxes": [
                30,
                31,
                32,
                33,
                34,
                35,
                36
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                21520,
                22119
            ],
            "skill_idxes": [
                37
            ]
        }
    ]
}