{
    "task_name": "slicing vegetables",
    "data_folder": "",
    "meta_data": {
        "task_duration": 13470,
        "valid_duration": [
            0,
            13470
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                531
            ],
            "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": [
                531,
                1497
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bell_pepper_213",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_213"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                1497,
                2358
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bell_pepper_214",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_214"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                2358,
                2944
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2944,
                3562
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "bell_pepper_213",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3562,
                3985
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "bell_pepper_214",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3985,
                4382
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "beet_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4382,
                5015
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "beet_212",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "beet_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                5015,
                5544
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "beet_211",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "beet_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                5544,
                6093
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6093,
                6459
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "beet_211",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "beet_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6459,
                7054
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "beet_212",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "beet_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7054,
                7390
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "zucchini_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7390,
                7915
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                7915,
                8537
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8537,
                9545
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "beet_212",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "beet_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "center"
                ]
            ],
            "frame_duration": [
                9545,
                9989
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9989,
                10101
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "parer_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10101,
                10519
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "beet_212"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10519,
                10747
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "zucchini_208"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10747,
                10847
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_zucchini_208_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10847,
                10973
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_zucchini_208_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10973,
                11241
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_212_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11241,
                11310
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_212_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11310,
                11526
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "beet_211"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11526,
                11569
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_211_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11569,
                11650
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_211_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11650,
                11716
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bell_pepper_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11716,
                12107
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "bell_pepper_213"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12107,
                12440
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "bell_pepper_214"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12440,
                12582
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_214_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12582,
                12840
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_213_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12840,
                12984
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_213_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12984,
                13057
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_214_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13057,
                13156
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "parer_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13156,
                13470
            ],
            "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": [
                0,
                1497
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "bell_pepper_213",
                        "bell_pepper_214"
                    ],
                    "fridge_dszchb_0"
                ],
                [
                    [
                        "bell_pepper_213",
                        "bell_pepper_214"
                    ],
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bell_pepper_213",
                    "bell_pepper_214"
                ],
                [
                    "bell_pepper_213",
                    "bell_pepper_214"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level",
                        "high_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                1497,
                4382
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "beet_212",
                        "beet_211"
                    ],
                    "fridge_dszchb_0"
                ],
                [
                    [
                        "beet_211",
                        "beet_212"
                    ],
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                [
                    "beet_212",
                    "beet_211"
                ],
                [
                    "beet_211",
                    "beet_212"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level",
                        "high_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                4382,
                7390
            ],
            "skill_idxes": [
                7,
                8,
                9,
                10,
                11,
                12
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "middle_level"
                    ]
                ]
            ],
            "frame_duration": [
                7390,
                8537
            ],
            "skill_idxes": [
                13,
                14
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8537,
                9545
            ],
            "skill_idxes": [
                15
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9545,
                10101
            ],
            "skill_idxes": [
                16,
                17
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    [
                        "beet_212",
                        "zucchini_208",
                        "half_zucchini_208_1",
                        "half_zucchini_208_0",
                        "half_beet_212_0",
                        "half_beet_212_1",
                        "beet_211",
                        "half_beet_211_1",
                        "half_beet_211_0"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10101,
                11716
            ],
            "skill_idxes": [
                18,
                19,
                20,
                21,
                22,
                23,
                24,
                25,
                26,
                27
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    [
                        "bell_pepper_213",
                        "bell_pepper_214",
                        "half_bell_pepper_214_0",
                        "half_bell_pepper_213_0",
                        "half_bell_pepper_213_1",
                        "half_bell_pepper_214_1"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11716,
                13470
            ],
            "skill_idxes": [
                28,
                29,
                30,
                31,
                32,
                33,
                34,
                35
            ]
        }
    ]
}