{
    "task_name": "assembling gift baskets",
    "data_folder": "",
    "meta_data": {
        "task_duration": 23832,
        "valid_duration": [
            0,
            23832
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_91"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                360
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_91",
                    "floors_ulujpr_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_91"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                361,
                620
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_92"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                620,
                1096
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_92",
                    "floors_ulujpr_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_92"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1096,
                1480
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1481,
                2091
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_91",
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_91"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2092,
                2358
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_92",
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_92"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2092,
                2358
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_89"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2358,
                2736
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_89",
                    "floors_ulujpr_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_89"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2736,
                2961
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "wicker_basket_90"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2961,
                3263
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "wicker_basket_90",
                    "floors_ulujpr_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_90"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3263,
                3525
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3525,
                4050
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_90",
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_90"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4051,
                4301
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "wicker_basket_89",
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [
                "wicker_basket_89"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4051,
                4301
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "swiss_cheese_77"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4301,
                4789
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "swiss_cheese_77",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4789,
                5237
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "swiss_cheese_80"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5237,
                5308
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "swiss_cheese_80",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_80"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5309,
                6016
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6017,
                6427
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "swiss_cheese_77",
                    "wicker_basket_92"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6428,
                6637
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "swiss_cheese_80",
                    "wicker_basket_91"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_80"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6428,
                6637
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bow_75"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6637,
                7038
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bow_75",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "bow_75"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7038,
                7473
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bow_76"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7474,
                7873
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bow_76",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "bow_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7873,
                8185
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8185,
                8702
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bow_75",
                    "wicker_basket_89"
                ]
            ],
            "manipulating_object_id": [
                "bow_75"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8702,
                8925
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bow_76",
                    "wicker_basket_90"
                ]
            ],
            "manipulating_object_id": [
                "bow_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8702,
                8925
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "pillar_candle_87"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8925,
                9495
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pillar_candle_87",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_87"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9495,
                9753
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "pillar_candle_86"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9753,
                10106
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pillar_candle_86",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10106,
                10590
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10591,
                11439
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "pillar_candle_87",
                    "wicker_basket_89"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_87"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11439,
                11657
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "pillar_candle_86",
                    "wicker_basket_90"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11439,
                11657
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "butter_cookie_83"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11657,
                12192
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "butter_cookie_83",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_83"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12192,
                12671
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "butter_cookie_82"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12671,
                12727
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 38,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "butter_cookie_82",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_82"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12727,
                12902
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 39,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12903,
                13537
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 40,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "butter_cookie_82",
                    "wicker_basket_91"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_82"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13538,
                13693
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 41,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "butter_cookie_83",
                    "wicker_basket_92"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_83"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13538,
                13693
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 42,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "pillar_candle_85"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13694,
                14012
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 43,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pillar_candle_85",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_85"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14013,
                15069
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 44,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pillar_candle_88",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_88"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15069,
                15320
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 45,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15320,
                16122
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 46,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "pillar_candle_88",
                    "wicker_basket_91"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_88"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16123,
                16337
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 47,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "pillar_candle_85",
                    "wicker_basket_92"
                ]
            ],
            "manipulating_object_id": [
                "pillar_candle_85"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16123,
                16337
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 48,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "swiss_cheese_79"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16338,
                16734
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 49,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "swiss_cheese_79",
                    "floors_ulujpr_0"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_79"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16734,
                16945
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 50,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "swiss_cheese_78"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16945,
                17505
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 51,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "swiss_cheese_78",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17505,
                18496
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 52,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                18497,
                19381
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 53,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "swiss_cheese_79",
                    "wicker_basket_89"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_79"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19381,
                19639
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 54,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "swiss_cheese_78",
                    "wicker_basket_90"
                ]
            ],
            "manipulating_object_id": [
                "swiss_cheese_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19381,
                19639
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 55,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "butter_cookie_84"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                19639,
                19977
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 56,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "butter_cookie_84",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_84"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19977,
                20359
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 57,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bow_74"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                20359,
                20547
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 58,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bow_74",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "bow_74"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20547,
                20761
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 59,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                20761,
                21100
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 60,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bow_74",
                    "wicker_basket_91"
                ]
            ],
            "manipulating_object_id": [
                "bow_74"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21100,
                21126
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 61,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "butter_cookie_84",
                    "wicker_basket_90"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_84"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21126,
                21220
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 62,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "butter_cookie_81"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                21221,
                21831
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 63,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "butter_cookie_81",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_81"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21831,
                22171
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 64,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bow_73"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                22172,
                22445
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 65,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bow_73",
                    "coffee_table_koagbh_0"
                ]
            ],
            "manipulating_object_id": [
                "bow_73"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                22445,
                22895
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 66,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                22895,
                23292
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 67,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bow_73",
                    "wicker_basket_92"
                ]
            ],
            "manipulating_object_id": [
                "bow_73"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                23292,
                23465
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 68,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                23465,
                23675
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 69,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "butter_cookie_81",
                    "wicker_basket_89"
                ]
            ],
            "manipulating_object_id": [
                "butter_cookie_81"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                23675,
                23832
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "wicker_basket_91",
                        "wicker_basket_92"
                    ],
                    "floors_ulujpr_0"
                ],
                [
                    [
                        "wicker_basket_91",
                        "wicker_basket_92"
                    ],
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "wicker_basket_91",
                    "wicker_basket_92"
                ],
                [
                    "wicker_basket_91",
                    "wicker_basket_92"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                2358
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3,
                4,
                5,
                6
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "wicker_basket_89",
                        "wicker_basket_90"
                    ],
                    "floors_ulujpr_0"
                ],
                [
                    [
                        "wicker_basket_90",
                        "wicker_basket_89"
                    ],
                    "bottom_cabinet_rhdbzv_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "wicker_basket_89",
                    "wicker_basket_90"
                ],
                [
                    "wicker_basket_90",
                    "wicker_basket_89"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2358,
                4301
            ],
            "skill_idxes": [
                7,
                8,
                9,
                10,
                11,
                12,
                13
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "swiss_cheese_77",
                        "swiss_cheese_80"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "swiss_cheese_77",
                        "swiss_cheese_80"
                    ],
                    [
                        "wicker_basket_92",
                        "wicker_basket_91"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "swiss_cheese_77",
                    "swiss_cheese_80"
                ],
                [
                    "swiss_cheese_77",
                    "swiss_cheese_80"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4301,
                6637
            ],
            "skill_idxes": [
                14,
                15,
                16,
                17,
                18,
                19,
                20
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "bow_75",
                        "bow_76"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "bow_75",
                        "bow_76"
                    ],
                    [
                        "wicker_basket_89",
                        "wicker_basket_90"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "bow_75",
                    "bow_76"
                ],
                [
                    "bow_75",
                    "bow_76"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6637,
                8925
            ],
            "skill_idxes": [
                21,
                22,
                23,
                24,
                25,
                26,
                27
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "pillar_candle_87",
                        "pillar_candle_86"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "pillar_candle_87",
                        "pillar_candle_86"
                    ],
                    [
                        "wicker_basket_89",
                        "wicker_basket_90"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "pillar_candle_87",
                    "pillar_candle_86"
                ],
                [
                    "pillar_candle_87",
                    "pillar_candle_86"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8925,
                11657
            ],
            "skill_idxes": [
                28,
                29,
                30,
                31,
                32,
                33,
                34
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "butter_cookie_83",
                        "butter_cookie_82"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "butter_cookie_82",
                        "butter_cookie_83"
                    ],
                    [
                        "wicker_basket_91",
                        "wicker_basket_92"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "butter_cookie_83",
                    "butter_cookie_82"
                ],
                [
                    "butter_cookie_82",
                    "butter_cookie_83"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11657,
                13693
            ],
            "skill_idxes": [
                35,
                36,
                37,
                38,
                39,
                40,
                41
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "pillar_candle_85",
                        "pillar_candle_88"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "pillar_candle_88",
                        "pillar_candle_85"
                    ],
                    [
                        "wicker_basket_91",
                        "wicker_basket_92"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "pillar_candle_85",
                    "pillar_candle_88"
                ],
                [
                    "pillar_candle_88",
                    "pillar_candle_85"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13694,
                16337
            ],
            "skill_idxes": [
                42,
                43,
                44,
                45,
                46,
                47
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "swiss_cheese_79",
                        "swiss_cheese_78"
                    ],
                    [
                        "floors_ulujpr_0",
                        "coffee_table_koagbh_0"
                    ]
                ],
                [
                    [
                        "swiss_cheese_79",
                        "swiss_cheese_78"
                    ],
                    [
                        "wicker_basket_89",
                        "wicker_basket_90"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "swiss_cheese_79",
                    "swiss_cheese_78"
                ],
                [
                    "swiss_cheese_79",
                    "swiss_cheese_78"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16338,
                19639
            ],
            "skill_idxes": [
                48,
                49,
                50,
                51,
                52,
                53,
                54
            ]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "butter_cookie_84",
                        "bow_74"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "bow_74",
                        "butter_cookie_84"
                    ],
                    [
                        "wicker_basket_91",
                        "wicker_basket_90"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "butter_cookie_84",
                    "bow_74"
                ],
                [
                    "bow_74",
                    "butter_cookie_84"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19639,
                21220
            ],
            "skill_idxes": [
                55,
                56,
                57,
                58,
                59,
                60,
                61
            ]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "butter_cookie_81",
                        "bow_73"
                    ],
                    "coffee_table_koagbh_0"
                ],
                [
                    [
                        "bow_73",
                        "butter_cookie_81"
                    ],
                    [
                        "wicker_basket_92",
                        "wicker_basket_89"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "butter_cookie_81",
                    "bow_73"
                ],
                [
                    "bow_73",
                    "butter_cookie_81"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21221,
                23832
            ],
            "skill_idxes": [
                62,
                63,
                64,
                65,
                66,
                67,
                68,
                69
            ]
        }
    ]
}