{
    "task_name": "freeze pies",
    "data_folder": "",
    "meta_data": {
        "task_duration": 12870,
        "valid_duration": [
            0,
            12870
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                428
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "first_right_door"
                ]
            ],
            "frame_duration": [
                429,
                1451
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 2,
            "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": [
                1562,
                1952
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "first_right_door"
                ]
            ],
            "frame_duration": [
                1952,
                2430
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2430,
                2742
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2742,
                2914
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "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": [
                2914,
                3414
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "apple_pie_235",
                    "tupperware_230"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3415,
                3772
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3772,
                4137
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "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": [
                4137,
                5190
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 10,
            "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": [
                5190,
                5682
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "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": [
                5682,
                6337
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6337,
                6960
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6960,
                7152
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "apple_pie_234"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7152,
                7200
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "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": [
                7200,
                7798
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "apple_pie_234",
                    "tupperware_231"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_234"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7798,
                7951
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7951,
                8366
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8366,
                9481
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tupperware_230"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9481,
                10109
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10109,
                10355
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tupperware_231"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10355,
                10444
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10444,
                10746
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                10746,
                11222
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                11222,
                11538
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                11539,
                11914
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11914,
                12870
            ],
            "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": [
                [
                    [
                        "first_right_door"
                    ]
                ]
            ],
            "frame_duration": [
                0,
                1451
            ],
            "skill_idxes": [
                0,
                1
            ]
        },
        {
            "primitive_idx": 1,
            "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": [
                1562,
                1952
            ],
            "skill_idxes": [
                2
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_no_top_gjeoer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "first_right_door"
                    ]
                ]
            ],
            "frame_duration": [
                1952,
                2430
            ],
            "skill_idxes": [
                3
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_230",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_230"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2430,
                2914
            ],
            "skill_idxes": [
                4,
                5
            ]
        },
        {
            "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_230"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_235",
                "apple_pie_235"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2914,
                3772
            ],
            "skill_idxes": [
                6,
                7
            ]
        },
        {
            "primitive_idx": 5,
            "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": [
                3772,
                5190
            ],
            "skill_idxes": [
                8,
                9
            ]
        },
        {
            "primitive_idx": 6,
            "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": [
                5190,
                5682
            ],
            "skill_idxes": [
                10
            ]
        },
        {
            "primitive_idx": 7,
            "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": [
                5682,
                6337
            ],
            "skill_idxes": [
                11
            ]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_231",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_231"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6337,
                7152
            ],
            "skill_idxes": [
                12,
                13
            ]
        },
        {
            "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_231"
                ]
            ],
            "manipulating_object_id": [
                "apple_pie_234",
                "apple_pie_234"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7152,
                7951
            ],
            "skill_idxes": [
                14,
                15,
                16
            ]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7951,
                9481
            ],
            "skill_idxes": [
                17,
                18
            ]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "tupperware_230",
                        "tupperware_231"
                    ],
                    "countertop_kelzer_0"
                ],
                [
                    [
                        "tupperware_230",
                        "tupperware_231"
                    ],
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tupperware_230",
                    "tupperware_231"
                ],
                [
                    "tupperware_230",
                    "tupperware_231"
                ]
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "middle_level",
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                9481,
                11914
            ],
            "skill_idxes": [
                19,
                20,
                21,
                22,
                23,
                24,
                25
            ]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11914,
                12870
            ],
            "skill_idxes": [
                26
            ]
        }
    ]
}