{
    "task_name": "cook cabbage",
    "data_folder": "",
    "meta_data": {
        "task_duration": 14826,
        "valid_duration": [
            54,
            14880
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                54,
                315
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                315,
                1407
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chili_211",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                1410,
                2398
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "head_cabbage_212",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "head_cabbage_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                2398,
                3056
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3056,
                4070
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4070,
                4267
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "head_cabbage_212",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "head_cabbage_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4267,
                4797
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4797,
                4924
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "chili_211",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4924,
                5229
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "frying_pan_208",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "frying_pan_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5229,
                5709
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "burner_mjvqii_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5709,
                5781
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "frying_pan_208",
                    "burner_mjvqii_0"
                ]
            ],
            "manipulating_object_id": [
                "frying_pan_208"
            ],
            "spatial_prefix": [
                [
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                5781,
                6336
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6336,
                6501
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6501,
                8036
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "head_cabbage_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8036,
                8313
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "head_cabbage_212"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8313,
                8640
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "half_head_cabbage_212_1"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8640,
                8691
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "half_head_cabbage_212_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8691,
                9017
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "countertop_kelker_0",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "left"
                ]
            ],
            "frame_duration": [
                9017,
                9168
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "cutting_board_210",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                9168,
                9792
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "cutting_board_210",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9792,
                10281
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__head_cabbage"
                    ],
                    "cutting_board_210",
                    "frying_pan_208"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10281,
                11358
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "cutting_board_210",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                11358,
                11829
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "chili_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11829,
                11952
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chili_211",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11952,
                12399
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12399,
                12531
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "chili_211",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12531,
                12687
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12687,
                12759
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12759,
                13042
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "chili_211"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13042,
                13278
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "half_chili_211_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13278,
                13314
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "half_chili_211_1"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13314,
                13401
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13401,
                13563
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "cutting_board_210",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13563,
                13981
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__chili"
                    ],
                    "cutting_board_210",
                    "frying_pan_208"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13981,
                14130
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "cutting_board_210",
                    "countertop_kelker_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14130,
                14442
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                69
            ],
            "skill_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "burner_mjvqii_0"
                ]
            ],
            "manipulating_object_id": [
                "burner_mjvqii_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14442,
                14880
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                54,
                1407
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    [
                        "chili_211",
                        "head_cabbage_212"
                    ],
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "chili_211",
                    "head_cabbage_212"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "middle_level",
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                1410,
                3056
            ],
            "skill_idxes": [
                2,
                3
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3056,
                4070
            ],
            "skill_idxes": [
                4
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "head_cabbage_212",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "head_cabbage_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4070,
                4797
            ],
            "skill_idxes": [
                5,
                6
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "chili_211",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4797,
                5229
            ],
            "skill_idxes": [
                7,
                8
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "frying_pan_208",
                    "countertop_kelker_0"
                ],
                [
                    "frying_pan_208",
                    "burner_mjvqii_0"
                ]
            ],
            "manipulating_object_id": [
                "frying_pan_208",
                "frying_pan_208"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "right"
                    ]
                ]
            ],
            "frame_duration": [
                5229,
                6336
            ],
            "skill_idxes": [
                9,
                10,
                11
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    [
                        "head_cabbage_212",
                        "half_head_cabbage_212_1",
                        "half_head_cabbage_212_0"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6336,
                9168
            ],
            "skill_idxes": [
                12,
                13,
                14,
                15,
                16,
                17,
                18
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__head_cabbage"
                    ],
                    "cutting_board_210",
                    "frying_pan_208"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9168,
                11829
            ],
            "skill_idxes": [
                19,
                20,
                21,
                22
            ]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "chili_211",
                    "plate_207"
                ],
                [
                    "chili_211",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "chili_211",
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11829,
                12687
            ],
            "skill_idxes": [
                23,
                24,
                25,
                26
            ]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    [
                        "chili_211",
                        "half_chili_211_0",
                        "half_chili_211_1"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12687,
                13563
            ],
            "skill_idxes": [
                27,
                28,
                29,
                30,
                31,
                32
            ]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__chili"
                    ],
                    "cutting_board_210",
                    "frying_pan_208"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13563,
                14442
            ],
            "skill_idxes": [
                33,
                34,
                35
            ]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [
                69
            ],
            "primitive_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "burner_mjvqii_0"
                ]
            ],
            "manipulating_object_id": [
                "burner_mjvqii_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14442,
                14880
            ],
            "skill_idxes": [
                36
            ]
        }
    ]
}