{
    "task_name": "cook cabbage",
    "data_folder": "",
    "meta_data": {
        "task_duration": 17003,
        "valid_duration": [
            37,
            17040
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                37,
                637
            ],
            "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": [
                638,
                2112
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "head_cabbage_212",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "head_cabbage_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                2112,
                3332
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chili_211",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                3332,
                4296
            ],
            "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": [
                4296,
                5427
            ],
            "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": [
                5427,
                5884
            ],
            "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": [
                5884,
                6429
            ],
            "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": [
                6429,
                6750
            ],
            "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": [
                6750,
                7333
            ],
            "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": [
                7333,
                7788
            ],
            "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": [
                7788,
                7980
            ],
            "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": [
                7980,
                8425
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "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": [
                8425,
                9404
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "head_cabbage_212"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9404,
                9699
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "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": [
                9699,
                9746
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "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": [
                9746,
                9836
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "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": [
                9836,
                10122
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "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": [
                10122,
                10775
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "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": [
                10775,
                11729
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "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": [
                11729,
                12568
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "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": [
                12568,
                13009
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "chili_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13009,
                13219
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chili_211",
                    "plate_207"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13219,
                13652
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13652,
                13804
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "chili_211",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "chili_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13804,
                14071
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "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": [
                14071,
                14623
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_209",
                    "chili_211"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14623,
                14939
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "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": [
                14939,
                15049
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "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": [
                15049,
                15088
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "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": [
                15088,
                15503
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "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": [
                15503,
                15976
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "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": [
                15976,
                16154
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "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": [
                16154,
                16538
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                69
            ],
            "skill_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "burner_mjvqii_0"
                ]
            ],
            "manipulating_object_id": [
                "burner_mjvqii_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16538,
                17040
            ],
            "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": [
                37,
                2112
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    [
                        "head_cabbage_212",
                        "chili_211"
                    ],
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "head_cabbage_212",
                    "chili_211"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "middle_level",
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                2112,
                4296
            ],
            "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": [
                4296,
                5427
            ],
            "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": [
                5427,
                6429
            ],
            "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": [
                6429,
                7333
            ],
            "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": [
                7333,
                8425
            ],
            "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_0",
                        "half_head_cabbage_212_1"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8425,
                10122
            ],
            "skill_idxes": [
                12,
                13,
                14,
                15,
                16
            ]
        },
        {
            "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": [
                10122,
                13009
            ],
            "skill_idxes": [
                17,
                18,
                19,
                20
            ]
        },
        {
            "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": [
                13009,
                14071
            ],
            "skill_idxes": [
                21,
                22,
                23,
                24
            ]
        },
        {
            "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": [
                14071,
                15503
            ],
            "skill_idxes": [
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "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": [
                15503,
                16538
            ],
            "skill_idxes": [
                30,
                31,
                32
            ]
        },
        {
            "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": [
                16538,
                17040
            ],
            "skill_idxes": [
                33
            ]
        }
    ]
}