{
    "task_name": "freeze pies",
    "data_folder": "",
    "meta_data": {
        "task_duration": 15538,
        "valid_duration": [
            3,
            15541
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "second_right_door"
                ]
            ],
            "frame_duration": [
                3,
                1055
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                1055,
                1852
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "second_right_door"
                ]
            ],
            "frame_duration": [
                1852,
                2682
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2682,
                3125
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3125,
                3376
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "apple_pie_235",
                    "plate_233"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3376,
                4089
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "apple_pie_235",
                    "tupperware_231"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4089,
                4261
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4261,
                4594
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "first_left_door"
                ]
            ],
            "frame_duration": [
                4594,
                5807
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                5807,
                6724
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "first_left_door"
                ]
            ],
            "frame_duration": [
                6724,
                7744
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7744,
                8154
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8154,
                8474
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "apple_pie_234"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8474,
                8585
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "apple_pie_234",
                    "plate_232"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_234"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8585,
                9292
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "apple_pie_234",
                    "tupperware_230"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_234"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9292,
                9752
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9752,
                10326
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10326,
                11395
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tupperware_231"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11395,
                12076
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12076,
                12402
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tupperware_230"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12402,
                12707
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12707,
                13097
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13097,
                13978
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                13978,
                14267
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                14267,
                14921
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                14921,
                15541
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "second_right_door"
                    ]
                ]
            ],
            "frame_duration": [
                3,
                1055
            ],
            "skill_idxes": [
                0
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                1055,
                1852
            ],
            "skill_idxes": [
                1
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "second_right_door"
                    ]
                ]
            ],
            "frame_duration": [
                1852,
                2682
            ],
            "skill_idxes": [
                2
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2682,
                3376
            ],
            "skill_idxes": [
                3,
                4
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "apple_pie_235",
                    "plate_233"
                ],
                [
                    "apple_pie_235",
                    "tupperware_231"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_235",
                "apple_pie_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3376,
                4261
            ],
            "skill_idxes": [
                5,
                6
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "first_left_door"
                    ]
                ]
            ],
            "frame_duration": [
                4261,
                5807
            ],
            "skill_idxes": [
                7,
                8
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                5807,
                6724
            ],
            "skill_idxes": [
                9
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "first_left_door"
                    ]
                ]
            ],
            "frame_duration": [
                6724,
                7744
            ],
            "skill_idxes": [
                10
            ]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7744,
                8474
            ],
            "skill_idxes": [
                11,
                12
            ]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "apple_pie_234",
                    "plate_232"
                ],
                [
                    "apple_pie_234",
                    "tupperware_230"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_234",
                "apple_pie_234"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8474,
                9752
            ],
            "skill_idxes": [
                13,
                14,
                15
            ]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9752,
                11395
            ],
            "skill_idxes": [
                16,
                17
            ]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "tupperware_231",
                        "tupperware_230"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "tupperware_231",
                        "tupperware_230"
                    ],
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tupperware_231",
                    "tupperware_230"
                ],
                [
                    "tupperware_231",
                    "tupperware_230"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "middle_level",
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                11395,
                14921
            ],
            "skill_idxes": [
                18,
                19,
                20,
                21,
                22,
                23,
                24
            ]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                14921,
                15541
            ],
            "skill_idxes": [
                25
            ]
        }
    ]
}