{
    "task_name": "slicing vegetables",
    "data_folder": "",
    "meta_data": {
        "task_duration": 11680,
        "valid_duration": [
            45,
            11725
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                45,
                708
            ],
            "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": [
                708,
                1824
            ],
            "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": [
                1824,
                2304
            ],
            "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": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                2304,
                2610
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2610,
                3246
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "bell_pepper_213",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_213"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3246,
                3554
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "bell_pepper_214",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_214"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3554,
                3765
            ],
            "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": [
                3765,
                4465
            ],
            "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": [
                4465,
                5106
            ],
            "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": [
                5106,
                5826
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5826,
                6544
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "beet_212",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "beet_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6544,
                6991
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "beet_211",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "beet_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6991,
                7450
            ],
            "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": [
                7450,
                8083
            ],
            "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": [
                8083,
                8337
            ],
            "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": [
                8337,
                9029
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9029,
                9554
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9554,
                9780
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "parer_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9780,
                9894
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "parer_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9894,
                10131
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "beet_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10131,
                10234
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "beet_211"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10234,
                10499
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_211_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10499,
                10611
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_211_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10611,
                10716
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "zucchini_208"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10716,
                10781
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_zucchini_208_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10781,
                10842
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_zucchini_208_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10842,
                10905
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "beet_212"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10905,
                10960
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_212_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10960,
                11018
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_212_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11018,
                11090
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "bell_pepper_213"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11090,
                11275
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_213_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11275,
                11344
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_213_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11344,
                11380
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "bell_pepper_214"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11380,
                11452
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_214_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11452,
                11495
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_214_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11495,
                11542
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "parer_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11542,
                11725
            ],
            "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": [
                45,
                1824
            ],
            "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_209"
                ]
            ],
            "manipulating_object_id": [
                [
                    "bell_pepper_213",
                    "bell_pepper_214"
                ],
                [
                    "bell_pepper_213",
                    "bell_pepper_214"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level",
                        "low_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                1824,
                3765
            ],
            "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_212",
                        "beet_211"
                    ],
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                [
                    "beet_212",
                    "beet_211"
                ],
                [
                    "beet_212",
                    "beet_211"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level",
                        "high_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                3765,
                7450
            ],
            "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": [
                7450,
                8337
            ],
            "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": [
                8337,
                9029
            ],
            "skill_idxes": [
                15
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "cutting_board_210"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9029,
                9780
            ],
            "skill_idxes": [
                16,
                17
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    [
                        "beet_211",
                        "half_beet_211_0",
                        "half_beet_211_1",
                        "zucchini_208",
                        "half_zucchini_208_1",
                        "half_zucchini_208_0",
                        "beet_212",
                        "half_beet_212_0",
                        "half_beet_212_1"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9780,
                11090
            ],
            "skill_idxes": [
                18,
                19,
                20,
                21,
                22,
                23,
                24,
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    [
                        "bell_pepper_213",
                        "half_bell_pepper_213_0",
                        "half_bell_pepper_213_1",
                        "bell_pepper_214",
                        "half_bell_pepper_214_0",
                        "half_bell_pepper_214_1"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11090,
                11725
            ],
            "skill_idxes": [
                30,
                31,
                32,
                33,
                34,
                35,
                36
            ]
        }
    ]
}