{
    "task_name": "canning food",
    "data_folder": "",
    "meta_data": {
        "task_duration": 26199,
        "valid_duration": [
            0,
            26199
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                789
            ],
            "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": [
                789,
                1170
            ],
            "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": [
                1170,
                1548
            ],
            "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": [
                1548,
                1641
            ],
            "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": [
                1641,
                1905
            ],
            "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": [
                1905,
                2286
            ],
            "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": [
                2286,
                2784
            ],
            "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": [
                2784,
                3750
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                3750,
                4539
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "steak_212",
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                "steak_212"
            ],
            "spatial_prefix": [
                [
                    "",
                    "middle_level"
                ]
            ],
            "frame_duration": [
                4539,
                5400
            ],
            "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": [
                5400,
                6723
            ],
            "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": [
                6723,
                7275
            ],
            "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": [
                7275,
                7446
            ],
            "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": [
                7446,
                7770
            ],
            "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": [
                7770,
                7809
            ],
            "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": [
                7809,
                8070
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "steak_212"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8070,
                8148
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "steak_212"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8148,
                8196
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "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": [
                8196,
                8271
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "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": [
                8271,
                8340
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "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": [
                8340,
                8589
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8589,
                9267
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                9267,
                10083
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                10083,
                10686
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                10686,
                11325
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_upper_door"
                ]
            ],
            "frame_duration": [
                11325,
                12357
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "low_level"
                ]
            ],
            "frame_duration": [
                12357,
                12756
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_upper_door"
                ]
            ],
            "frame_duration": [
                12756,
                13809
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                13809,
                14478
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "countertop_kelzer_0",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                14478,
                14706
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "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": [
                14706,
                15012
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15012,
                15087
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 32,
            "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": [
                15087,
                15390
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__steak"
                    ],
                    "cutting_board_208",
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15390,
                15681
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "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": [
                15681,
                15818
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                15818,
                15915
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 36,
            "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": [
                15915,
                16122
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16122,
                16932
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 38,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                16932,
                17769
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 39,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                17769,
                18459
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 40,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "pineapple_211"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                18459,
                19050
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 41,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19050,
                19392
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 42,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                19392,
                19500
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 43,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "pineapple_211",
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [
                "pineapple_211"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                19500,
                19905
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 44,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                19905,
                19956
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 45,
            "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": [
                19956,
                20136
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 46,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_207",
                    "pineapple_211"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_207"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                20136,
                20331
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 47,
            "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": [
                20331,
                20601
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 48,
            "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": [
                20601,
                20820
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 49,
            "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": [
                20820,
                20985
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 50,
            "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": [
                20985,
                21120
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 51,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "countertop_kelzer_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21120,
                21285
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 52,
            "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": [
                21285,
                21573
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 53,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                21573,
                21600
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 54,
            "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": [
                21600,
                22083
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 55,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_210"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                22083,
                22530
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 56,
            "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": [
                22530,
                22611
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 57,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "half_pineapple_211_1"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                22611,
                22662
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 58,
            "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": [
                22662,
                22803
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 59,
            "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": [
                22803,
                23025
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 60,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "carving_knife_207"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                23025,
                23061
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 61,
            "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": [
                23061,
                23253
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 62,
            "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": [
                23253,
                23382
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 63,
            "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": [
                23382,
                23553
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 64,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "cutting_board_208"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                23553,
                23613
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 65,
            "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": [
                23613,
                23955
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 66,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_210"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                23955,
                24111
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 67,
            "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": [
                24111,
                24366
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 68,
            "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": [
                24366,
                24720
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 69,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                24720,
                25224
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 70,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_3"
                ]
            ],
            "frame_duration": [
                25224,
                25722
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 71,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                25722,
                26199
            ],
            "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": [
                0,
                2286
            ],
            "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": [
                2286,
                3750
            ],
            "skill_idxes": [
                6,
                7
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    [
                        "pineapple_211",
                        "steak_212"
                    ],
                    "fridge_dszchb_0"
                ]
            ],
            "manipulating_object_id": [
                [
                    "pineapple_211",
                    "steak_212"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "high_level",
                        "middle_level"
                    ]
                ]
            ],
            "frame_duration": [
                3750,
                5400
            ],
            "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": [
                5400,
                6723
            ],
            "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": [
                6723,
                7770
            ],
            "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": [
                7770,
                8589
            ],
            "skill_idxes": [
                14,
                15,
                16,
                17,
                18,
                19,
                20
            ]
        },
        {
            "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": [
                8589,
                10083
            ],
            "skill_idxes": [
                21,
                22
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                10083,
                10686
            ],
            "skill_idxes": [
                23
            ]
        },
        {
            "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": [
                10686,
                11325
            ],
            "skill_idxes": [
                24
            ]
        },
        {
            "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": [
                11325,
                12357
            ],
            "skill_idxes": [
                25
            ]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "low_level"
                    ]
                ]
            ],
            "frame_duration": [
                12357,
                12756
            ],
            "skill_idxes": [
                26
            ]
        },
        {
            "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": [
                12756,
                13809
            ],
            "skill_idxes": [
                27
            ]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [
                91,
                4
            ],
            "primitive_description": [
                "place on next to",
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "countertop_kelzer_0",
                    "drop_in_sink_awvzkn_0"
                ],
                [
                    "bowl_209",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210",
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    [],
                    [],
                    [
                        "right"
                    ]
                ],
                []
            ],
            "frame_duration": [
                13809,
                15012
            ],
            "skill_idxes": [
                28,
                29,
                30
            ]
        },
        {
            "primitive_idx": 13,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__steak"
                    ],
                    "cutting_board_208",
                    "bowl_209"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15012,
                15818
            ],
            "skill_idxes": [
                31,
                32,
                33,
                34
            ]
        },
        {
            "primitive_idx": 14,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                15818,
                16122
            ],
            "skill_idxes": [
                35,
                36
            ]
        },
        {
            "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": [
                16122,
                17769
            ],
            "skill_idxes": [
                37,
                38
            ]
        },
        {
            "primitive_idx": 16,
            "primitive_id": [
                4
            ],
            "primitive_description": [
                "place in"
            ],
            "object_id": [
                [
                    "bowl_209",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_209"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                17769,
                18459
            ],
            "skill_idxes": [
                39
            ]
        },
        {
            "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": [
                18459,
                19905
            ],
            "skill_idxes": [
                40,
                41,
                42,
                43
            ]
        },
        {
            "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": [
                19905,
                20331
            ],
            "skill_idxes": [
                44,
                45,
                46
            ]
        },
        {
            "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": [
                20331,
                20820
            ],
            "skill_idxes": [
                47,
                48
            ]
        },
        {
            "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": [
                20820,
                21120
            ],
            "skill_idxes": [
                49,
                50
            ]
        },
        {
            "primitive_idx": 21,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "countertop_kelzer_0"
                ],
                [
                    "bowl_210",
                    "drop_in_sink_awvzkn_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210",
                "bowl_210"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21120,
                21573
            ],
            "skill_idxes": [
                51,
                52
            ]
        },
        {
            "primitive_idx": 22,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_210"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                21573,
                22611
            ],
            "skill_idxes": [
                53,
                54,
                55,
                56
            ]
        },
        {
            "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": [
                22611,
                23025
            ],
            "skill_idxes": [
                57,
                58,
                59
            ]
        },
        {
            "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": [
                23025,
                23553
            ],
            "skill_idxes": [
                60,
                61,
                62,
                63
            ]
        },
        {
            "primitive_idx": 25,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__pineapple"
                    ],
                    "cutting_board_208",
                    "bowl_210"
                ]
            ],
            "manipulating_object_id": [
                "cutting_board_208"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                23553,
                24366
            ],
            "skill_idxes": [
                64,
                65,
                66,
                67
            ]
        },
        {
            "primitive_idx": 26,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "bowl_210",
                    "drop_in_sink_awvzkn_0"
                ],
                [
                    "bowl_210",
                    "bottom_cabinet_fancyy_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_210",
                "bowl_210"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "layer_3"
                    ]
                ]
            ],
            "frame_duration": [
                24366,
                25722
            ],
            "skill_idxes": [
                68,
                69,
                70
            ]
        },
        {
            "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": [
                25722,
                26199
            ],
            "skill_idxes": [
                71
            ]
        }
    ]
}