{
    "task_name": "slicing vegetables",
    "data_folder": "",
    "meta_data": {
        "task_duration": 19473,
        "valid_duration": [
            60,
            19533
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                60,
                975
            ],
            "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": [
                975,
                3243
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "beet_211",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "beet_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                3243,
                3882
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "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": [
                3882,
                4686
            ],
            "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": [
                4686,
                5320
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "beet_211",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "beet_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5320,
                6275
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "beet_212",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "beet_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6275,
                7184
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bell_pepper_213"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7184,
                7885
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "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": [
                7885,
                8655
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bell_pepper_214",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "bell_pepper_214"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                8655,
                9553
            ],
            "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": [
                9553,
                10468
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "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": [
                10468,
                11391
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "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": [
                11391,
                12133
            ],
            "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": [
                12133,
                13068
            ],
            "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": [
                13068,
                13752
            ],
            "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": [
                13752,
                14668
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                14668,
                14746
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "beet_212",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "beet_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "center"
                ]
            ],
            "frame_duration": [
                14746,
                15340
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "zucchini_208",
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                "zucchini_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15340,
                15633
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "parer_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15633,
                15976
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "parer_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15976,
                16455
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "bell_pepper_214"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16455,
                17002
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_214_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17002,
                17122
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_214_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17122,
                17236
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "bell_pepper_213"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17236,
                17461
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_213_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17461,
                17545
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_bell_pepper_213_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17545,
                17764
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "beet_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                17764,
                18099
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "beet_211"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18099,
                18330
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_211_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18330,
                18381
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "beet_212"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18381,
                18495
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_212_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18495,
                18558
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_211_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18558,
                18717
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_beet_212_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18717,
                18816
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "zucchini_208"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18816,
                18981
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_zucchini_208_1"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18981,
                19047
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    "half_zucchini_208_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19047,
                19122
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "parer_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19122,
                19533
            ],
            "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": [
                60,
                3243
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    [
                        "beet_211",
                        "beet_212"
                    ],
                    "fridge_dszchb_0"
                ],
                [
                    [
                        "beet_211",
                        "beet_212"
                    ],
                    "cutting_board_209"
                ]
            ],
            "manipulating_object_id": [
                [
                    "beet_211",
                    "beet_212"
                ],
                [
                    "beet_211",
                    "beet_212"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level",
                        "low_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                3243,
                7184
            ],
            "skill_idxes": [
                2,
                3,
                4,
                5,
                6
            ]
        },
        {
            "primitive_idx": 2,
            "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",
                        "middle_level"
                    ]
                ],
                []
            ],
            "frame_duration": [
                7184,
                12133
            ],
            "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": [
                12133,
                13752
            ],
            "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": [
                13752,
                14668
            ],
            "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": [
                14668,
                15633
            ],
            "skill_idxes": [
                16,
                17,
                18
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    [
                        "bell_pepper_214",
                        "half_bell_pepper_214_1",
                        "half_bell_pepper_214_0",
                        "bell_pepper_213",
                        "half_bell_pepper_213_1",
                        "half_bell_pepper_213_0"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15633,
                17764
            ],
            "skill_idxes": [
                19,
                20,
                21,
                22,
                23,
                24,
                25,
                26
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "parer_207",
                    [
                        "beet_211",
                        "half_beet_211_0",
                        "beet_212",
                        "half_beet_212_0",
                        "half_beet_211_1",
                        "half_beet_212_1",
                        "zucchini_208",
                        "half_zucchini_208_1",
                        "half_zucchini_208_0"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "parer_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17764,
                19533
            ],
            "skill_idxes": [
                27,
                28,
                29,
                30,
                31,
                32,
                33,
                34,
                35,
                36,
                37
            ]
        }
    ]
}