{
    "task_name": "storing food",
    "data_folder": "",
    "meta_data": {
        "task_duration": 22890,
        "valid_duration": [
            0,
            22890
        ]
    },
    "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,
                787
            ],
            "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": [
                787,
                1645
            ],
            "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": [
                1645,
                2327
            ],
            "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": [
                2327,
                2673
            ],
            "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": [
                2673,
                3002
            ],
            "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": [
                3002,
                3376
            ],
            "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": [
                3376,
                4241
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "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": [
                4241,
                4629
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "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": [
                4629,
                5143
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "jar_of_sugar_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5143,
                5916
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "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": [
                5916,
                6438
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "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": [
                6438,
                7445
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7445,
                8310
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "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": [
                8310,
                8932
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "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": [
                8932,
                9304
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9304,
                10226
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                99
            ],
            "skill_description": [
                "tip over"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_213"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10226,
                10536
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "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": [
                10536,
                10789
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "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": [
                10789,
                11664
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11664,
                12284
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "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": [
                12284,
                12601
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 21,
            "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": [
                12601,
                12888
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12888,
                13802
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                99
            ],
            "skill_description": [
                "tip over"
            ],
            "object_id": [
                [
                    "box_of_oatmeal_214"
                ]
            ],
            "manipulating_object_id": [
                "box_of_oatmeal_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13802,
                14170
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "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": [
                14170,
                14568
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "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": [
                14568,
                15411
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15411,
                16233
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 27,
            "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": [
                16233,
                16689
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 28,
            "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": [
                16689,
                17078
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                17078,
                17633
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 30,
            "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": [
                17633,
                18130
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottle_of_olive_oil_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                18130,
                18793
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 32,
            "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": [
                18793,
                19884
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                19884,
                20916
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 34,
            "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": [
                20916,
                21694
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "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": [
                21694,
                22402
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                22402,
                22890
            ],
            "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,
                1645
            ],
            "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_212",
                        "bag_of_chips_211"
                    ],
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bag_of_chips_212",
                    "bag_of_chips_211"
                ],
                [
                    "bag_of_chips_212",
                    "bag_of_chips_211"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_3",
                        "layer_3"
                    ]
                ]
            ],
            "frame_duration": [
                1645,
                5143
            ],
            "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_208",
                        "jar_of_sugar_207"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "jar_of_sugar_208",
                        "jar_of_sugar_207"
                    ],
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "jar_of_sugar_208",
                    "jar_of_sugar_207"
                ],
                [
                    "jar_of_sugar_208",
                    "jar_of_sugar_207"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_2",
                        "layer_2"
                    ]
                ]
            ],
            "frame_duration": [
                5143,
                9304
            ],
            "skill_idxes": [
                9,
                10,
                11,
                12,
                13,
                14
            ]
        },
        {
            "primitive_idx": 3,
            "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": [
                9304,
                12888
            ],
            "skill_idxes": [
                15,
                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_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": [
                12888,
                17078
            ],
            "skill_idxes": [
                22,
                23,
                24,
                25,
                26,
                27,
                28
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bottle_of_olive_oil_210",
                        "bottle_of_olive_oil_209"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "bottle_of_olive_oil_209",
                        "bottle_of_olive_oil_210"
                    ],
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bottle_of_olive_oil_210",
                    "bottle_of_olive_oil_209"
                ],
                [
                    "bottle_of_olive_oil_209",
                    "bottle_of_olive_oil_210"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_2",
                        "layer_2"
                    ]
                ]
            ],
            "frame_duration": [
                17078,
                22402
            ],
            "skill_idxes": [
                29,
                30,
                31,
                32,
                33,
                34,
                35
            ]
        },
        {
            "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": [
                22402,
                22890
            ],
            "skill_idxes": [
                36
            ]
        }
    ]
}