{
    "task_name": "canning food",
    "data_folder": "",
    "meta_data": {
        "task_duration": 22833,
        "valid_duration": [
            9,
            22842
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9,
                530
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                530,
                980
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                980,
                1214
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1214,
                1352
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1352,
                1466
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                1466,
                1817
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1817,
                2292
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2292,
                3045
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "steak_212",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "steak_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                3045,
                3696
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                3696,
                4593
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4593,
                5768
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5768,
                6241
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "steak_212",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "steak_212"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6241,
                6364
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6364,
                6565
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6565,
                6616
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6616,
                6866
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "steak_212"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6866,
                7001
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "half_steak_212_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7001,
                7061
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "half_steak_212_1"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7061,
                7154
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                7154,
                7313
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7313,
                8143
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                8143,
                8800
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                8800,
                9346
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                9346,
                10046
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_upper_door"
                ]
            ],
            "frame_duration": [
                10046,
                10812
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                10812,
                11200
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_upper_door"
                ]
            ],
            "frame_duration": [
                11200,
                12297
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12297,
                12837
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "countertop_kelzer_0",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                12837,
                13056
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13056,
                13380
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13380,
                13443
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13443,
                13632
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__steak"
                    ],
                    "cutting_board_208",
                    "bowl_210"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13632,
                13977
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13977,
                14043
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14043,
                14304
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                14304,
                15171
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                15171,
                15978
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                15978,
                16500
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 38,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "pineapple_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16500,
                17055
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 39,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17055,
                17400
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 40,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                17400,
                17448
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 41,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17448,
                17586
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 42,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                17586,
                17640
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 43,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17640,
                17862
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 44,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "pineapple_211"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17862,
                17988
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 45,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "half_pineapple_211_1"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17988,
                18141
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 46,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "half_pineapple_211_1"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18141,
                18237
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 47,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "half_pineapple_211_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18237,
                18303
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 48,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                18303,
                18525
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 49,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                18525,
                18570
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 50,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18570,
                18768
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 51,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18768,
                19026
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 52,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                19026,
                19083
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 53,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19083,
                19356
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 54,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19356,
                19920
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 55,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19920,
                19998
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 56,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "half_pineapple_211_1"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19998,
                20115
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 57,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "half_pineapple_211_1"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20115,
                20250
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 58,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20250,
                20385
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 59,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "half_pineapple_211_1"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20385,
                20436
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 60,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "countertop_kelzer_0",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                20436,
                20505
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 61,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20505,
                20697
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 62,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20697,
                20850
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 63,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20850,
                21033
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 64,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21033,
                21426
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 65,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                21426,
                21963
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 66,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_3"
                ]
            ],
            "frame_duration": [
                21963,
                22413
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 67,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                22413,
                22842
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2,
                3,
                91
            ],
            "primitive_description": [
                "pick up from",
                "place on",
                "place on next to"
            ],
            "object_id": [
                [
                    [
                        "carving_knife_207",
                        "cutting_board_208"
                    ],
                    [
                        "cutting_board_208",
                        "countertop_kelzer_0"
                    ]
                ],
                [
                    "cutting_board_208",
                    "drop_in_sink_awvzkn_0"
                ],
                [
                    "carving_knife_207",
                    "countertop_kelzer_0",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                [
                    "carving_knife_207",
                    "cutting_board_208"
                ],
                "cutting_board_208",
                "carving_knife_207"
            ],
            "spatial_prefix": [
                [],
                [],
                [
                    [],
                    [],
                    [
                        "right"
                    ]
                ]
            ],
            "frame_duration": [
                9,
                1817
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3,
                4,
                5
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1817,
                3045
            ],
            "skill_idxes": [
                6,
                7
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    [
                        "steak_212",
                        "pineapple_211"
                    ],
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "steak_212",
                    "pineapple_211"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                3045,
                4593
            ],
            "skill_idxes": [
                8,
                9
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4593,
                5768
            ],
            "skill_idxes": [
                10
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    [
                        "steak_212",
                        "pineapple_211"
                    ],
                    [
                        "cutting_board_208",
                        "countertop_kelzer_0"
                    ]
                ]
            ],
            "manipulating_object_id": [
                [
                    "steak_212",
                    "pineapple_211"
                ]
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5768,
                6565
            ],
            "skill_idxes": [
                11,
                12,
                13
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    [
                        "steak_212",
                        "half_steak_212_0",
                        "half_steak_212_1"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6565,
                7313
            ],
            "skill_idxes": [
                14,
                15,
                16,
                17,
                18,
                19
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                7313,
                8800
            ],
            "skill_idxes": [
                20,
                21
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                8800,
                9346
            ],
            "skill_idxes": [
                22
            ]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                9346,
                10046
            ],
            "skill_idxes": [
                23
            ]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_upper_door"
                    ]
                ]
            ],
            "frame_duration": [
                10046,
                10812
            ],
            "skill_idxes": [
                24
            ]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                10812,
                11200
            ],
            "skill_idxes": [
                25
            ]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_upper_door"
                    ]
                ]
            ],
            "frame_duration": [
                11200,
                12297
            ],
            "skill_idxes": [
                26
            ]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [
                91,
                4
            ],
            "primitive_description": [
                "place on next to",
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "countertop_kelzer_0",
                    "drop_in_sink_awvzkn_0"
                ],
                [
                    "bowl_210",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209",
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    [],
                    [],
                    [
                        "right"
                    ]
                ],
                []
            ],
            "frame_duration": [
                12297,
                13380
            ],
            "skill_idxes": [
                27,
                28,
                29
            ]
        },
        {
            "primitive_idx": 13,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__steak"
                    ],
                    "cutting_board_208",
                    "bowl_210"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                13380,
                14043
            ],
            "skill_idxes": [
                30,
                31,
                32,
                33
            ]
        },
        {
            "primitive_idx": 14,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                14043,
                14304
            ],
            "skill_idxes": [
                34
            ]
        },
        {
            "primitive_idx": 15,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                14304,
                15978
            ],
            "skill_idxes": [
                35,
                36
            ]
        },
        {
            "primitive_idx": 16,
            "primitive_id": [
                4
            ],
            "primitive_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                15978,
                16500
            ],
            "skill_idxes": [
                37
            ]
        },
        {
            "primitive_idx": 17,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "countertop_kelzer_0"
                ],
                [
                    "pineapple_211",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211",
                "pineapple_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                16500,
                17586
            ],
            "skill_idxes": [
                38,
                39,
                40,
                41
            ]
        },
        {
            "primitive_idx": 18,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "pineapple_211"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17586,
                17988
            ],
            "skill_idxes": [
                42,
                43,
                44
            ]
        },
        {
            "primitive_idx": 19,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1",
                    "cutting_board_208"
                ],
                [
                    "half_pineapple_211_1",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "half_pineapple_211_1",
                "half_pineapple_211_1"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                17988,
                18237
            ],
            "skill_idxes": [
                45,
                46
            ]
        },
        {
            "primitive_idx": 20,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "half_pineapple_211_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18237,
                18525
            ],
            "skill_idxes": [
                47,
                48
            ]
        },
        {
            "primitive_idx": 21,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "countertop_kelzer_0"
                ],
                [
                    "bowl_209",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209",
                "bowl_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18525,
                19026
            ],
            "skill_idxes": [
                49,
                50,
                51
            ]
        },
        {
            "primitive_idx": 22,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19026,
                19998
            ],
            "skill_idxes": [
                52,
                53,
                54,
                55
            ]
        },
        {
            "primitive_idx": 23,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1",
                    "countertop_kelzer_0"
                ],
                [
                    "half_pineapple_211_1",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "half_pineapple_211_1",
                "half_pineapple_211_1"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19998,
                20250
            ],
            "skill_idxes": [
                56,
                57
            ]
        },
        {
            "primitive_idx": 24,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "half_pineapple_211_1"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20250,
                20505
            ],
            "skill_idxes": [
                58,
                59,
                60
            ]
        },
        {
            "primitive_idx": 25,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20505,
                21033
            ],
            "skill_idxes": [
                61,
                62,
                63
            ]
        },
        {
            "primitive_idx": 26,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "drop_in_sink_awvzkn_0"
                ],
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209",
                "bowl_209"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_3"
                    ]
                ]
            ],
            "frame_duration": [
                21033,
                22413
            ],
            "skill_idxes": [
                64,
                65,
                66
            ]
        },
        {
            "primitive_idx": 27,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                22413,
                22842
            ],
            "skill_idxes": [
                67
            ]
        }
    ]
}