{
    "task_name": "make pizza",
    "data_folder": "",
    "meta_data": {
        "task_duration": 12600,
        "valid_duration": [
            0,
            12600
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                240
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_76",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                240,
                513
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "bowl_76",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                513,
                579
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "vidalia_onion_80",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_80"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                579,
                834
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                834,
                1062
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                1062,
                1194
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "vidalia_onion_80",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_80"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1194,
                1305
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "baking_sheet_79",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "baking_sheet_79"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1305,
                1473
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1473,
                1614
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "baking_sheet_79",
                    "bar_egwapq_0",
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "baking_sheet_79"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "left"
                ]
            ],
            "frame_duration": [
                1614,
                1701
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                1701,
                2376
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2376,
                2544
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "vidalia_onion_80"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2544,
                2586
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "vidalia_onion_80"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2586,
                2670
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "half_vidalia_onion_80_1"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2670,
                2718
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "half_vidalia_onion_80_0",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "half_vidalia_onion_80_0"
            ],
            "spatial_prefix": [
                [
                    "",
                    "center"
                ]
            ],
            "frame_duration": [
                2718,
                2880
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "half_vidalia_onion_80_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2880,
                2943
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "bar_egwapq_0",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                2943,
                3062
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3062,
                3330
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__vidalia_onion"
                    ],
                    "chopping_board_78",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3330,
                3633
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "right"
                ]
            ],
            "frame_duration": [
                3633,
                3705
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3705,
                3887
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                3887,
                4193
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_74",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_74"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                4193,
                4376
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_75",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_75"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_5"
                ]
            ],
            "frame_duration": [
                4376,
                4649
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "baking_sheet_79"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                4649,
                4808
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                91
            ],
            "skill_description": [
                "place on next to"
            ],
            "object_id": [
                [
                    "tupperware_75",
                    "bar_egwapq_0",
                    "baking_sheet_79"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_75"
            ],
            "spatial_prefix": [
                [
                    "",
                    "",
                    "left"
                ]
            ],
            "frame_duration": [
                4808,
                5040
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "mushroom_81",
                        "mushroom_82"
                    ],
                    "tupperware_74",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_74"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5040,
                5236
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "tupperware_74",
                    "drop_in_sink_lkklqs_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_74"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                5236,
                5380
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                5380,
                5586
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "right_door"
                ]
            ],
            "frame_duration": [
                5586,
                6126
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 31,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                6126,
                6447
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 32,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_73",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_73"
            ],
            "spatial_prefix": [
                [
                    "",
                    "layer_4"
                ]
            ],
            "frame_duration": [
                6447,
                6657
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 33,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    "left_door"
                ]
            ],
            "frame_duration": [
                6657,
                6879
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 34,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                6879,
                7064
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 35,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "pepperoni_83",
                        "pepperoni_84",
                        "pepperoni_85",
                        "pepperoni_86"
                    ],
                    "tupperware_73",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_73"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7064,
                7213
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 36,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_73",
                    "tupperware_74"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_73"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7213,
                7558
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 37,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7558,
                7693
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 38,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "mushroom_81"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7693,
                7933
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 39,
            "skill_id": [
                34
            ],
            "skill_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "mushroom_82"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7933,
                8053
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 40,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8053,
                8104
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 41,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8104,
                8264
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 42,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "half_mushroom_81_0",
                        "half_mushroom_81_1",
                        "half_mushroom_82_0",
                        "half_mushroom_82_1"
                    ],
                    "chopping_board_78",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8264,
                8384
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 43,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8384,
                8447
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 44,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "bowl_76",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8447,
                8588
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 45,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "pizza_dough_87"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8588,
                8732
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 46,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "half_mushroom_81_0",
                        "half_mushroom_81_1",
                        "half_mushroom_82_0",
                        "half_mushroom_82_1",
                        "diced__vidalia_onion",
                        "pepperoni_83",
                        "pepperoni_84",
                        "pepperoni_85",
                        "pepperoni_86"
                    ],
                    "bowl_76",
                    "pizza_dough_87"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8732,
                8891
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 47,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "tupperware_73"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8891,
                8918
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 48,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "bowl_76",
                    "tupperware_73"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8918,
                9024
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 49,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_75",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_75"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9024,
                9219
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 50,
            "skill_id": [
                28
            ],
            "skill_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "grated_cheese"
                    ],
                    "tupperware_75",
                    "pizza_dough_87"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_75"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9219,
                9426
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 51,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "tupperware_75",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_75"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9426,
                9531
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 52,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9531,
                9579
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 53,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9579,
                10286
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 54,
            "skill_id": [
                101
            ],
            "skill_description": [
                "pull tray"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "oven_ffitak_0"
            ],
            "spatial_prefix": [
                [
                    "high_level"
                ]
            ],
            "frame_duration": [
                10286,
                11034
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 55,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "baking_sheet_79",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "baking_sheet_79"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11034,
                11223
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 56,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "baking_sheet_79",
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "baking_sheet_79"
            ],
            "spatial_prefix": [
                [
                    "",
                    "high_level"
                ]
            ],
            "frame_duration": [
                11223,
                11718
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 57,
            "skill_id": [
                100
            ],
            "skill_description": [
                "push tray"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "oven_ffitak_0"
            ],
            "spatial_prefix": [
                [
                    "high_level"
                ]
            ],
            "frame_duration": [
                11718,
                11778
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 58,
            "skill_id": [
                12
            ],
            "skill_description": [
                "close door"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11778,
                12132
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 59,
            "skill_id": [
                69
            ],
            "skill_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "oven_ffitak_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12132,
                12237
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 60,
            "skill_id": [
                10
            ],
            "skill_description": [
                "open door"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12237,
                12600
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "bowl_76",
                    "bar_egwapq_0"
                ],
                [
                    "bowl_76",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76",
                "bowl_76"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "to_the_edge_of"
                    ]
                ]
            ],
            "frame_duration": [
                0,
                579
            ],
            "skill_idxes": [
                0,
                1,
                2
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "vidalia_onion_80",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_80"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                579,
                834
            ],
            "skill_idxes": [
                3
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                91
            ],
            "primitive_description": [
                "pick up from",
                "place on next to"
            ],
            "object_id": [
                [
                    "chopping_board_78",
                    "bar_egwapq_0"
                ],
                [
                    "chopping_board_78",
                    "bar_egwapq_0",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78",
                "chopping_board_78"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [],
                    [
                        "right"
                    ]
                ]
            ],
            "frame_duration": [
                834,
                1194
            ],
            "skill_idxes": [
                4,
                5
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                3
            ],
            "primitive_description": [
                "place on"
            ],
            "object_id": [
                [
                    "vidalia_onion_80",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                "vidalia_onion_80"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1194,
                1305
            ],
            "skill_idxes": [
                6
            ]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [
                2,
                91
            ],
            "primitive_description": [
                "pick up from",
                "place on next to"
            ],
            "object_id": [
                [
                    "baking_sheet_79",
                    "bar_egwapq_0"
                ],
                [
                    "baking_sheet_79",
                    "bar_egwapq_0",
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "baking_sheet_79",
                "baking_sheet_79"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [],
                    [
                        "left"
                    ]
                ]
            ],
            "frame_duration": [
                1305,
                1701
            ],
            "skill_idxes": [
                7,
                8,
                9
            ]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    "bar_egwapq_0"
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1701,
                2586
            ],
            "skill_idxes": [
                10,
                11,
                12
            ]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    [
                        "vidalia_onion_80",
                        "half_vidalia_onion_80_1",
                        "half_vidalia_onion_80_0"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2586,
                3062
            ],
            "skill_idxes": [
                13,
                14,
                15,
                16,
                17
            ]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "diced__vidalia_onion"
                    ],
                    "chopping_board_78",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3062,
                3705
            ],
            "skill_idxes": [
                18,
                19,
                20
            ]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                3705,
                4193
            ],
            "skill_idxes": [
                21,
                22
            ]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [
                2,
                91,
                28
            ],
            "primitive_description": [
                "pick up from",
                "place on next to",
                "pour"
            ],
            "object_id": [
                [
                    [
                        "tupperware_74",
                        "tupperware_75"
                    ],
                    "fridge_petcxr_0"
                ],
                [
                    "tupperware_75",
                    "bar_egwapq_0",
                    "baking_sheet_79"
                ],
                [
                    [
                        "mushroom_81",
                        "mushroom_82"
                    ],
                    "tupperware_74",
                    "chopping_board_78"
                ]
            ],
            "manipulating_object_id": [
                [
                    "tupperware_74",
                    "tupperware_75"
                ],
                "tupperware_75",
                "tupperware_74"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "layer_4",
                        "layer_5"
                    ]
                ],
                [
                    [],
                    [],
                    [
                        "left"
                    ]
                ],
                []
            ],
            "frame_duration": [
                4193,
                5586
            ],
            "skill_idxes": [
                23,
                24,
                25,
                26,
                27,
                28,
                29
            ]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "right_door"
                    ]
                ]
            ],
            "frame_duration": [
                5586,
                6126
            ],
            "skill_idxes": [
                30
            ]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                6126,
                6447
            ],
            "skill_idxes": [
                31
            ]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [
                2
            ],
            "primitive_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "tupperware_73",
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_73"
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "layer_4"
                    ]
                ]
            ],
            "frame_duration": [
                6447,
                6657
            ],
            "skill_idxes": [
                32
            ]
        },
        {
            "primitive_idx": 13,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "fridge_petcxr_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [
                [
                    [
                        "left_door"
                    ]
                ]
            ],
            "frame_duration": [
                6657,
                6879
            ],
            "skill_idxes": [
                33
            ]
        },
        {
            "primitive_idx": 14,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "pepperoni_83",
                        "pepperoni_84",
                        "pepperoni_85",
                        "pepperoni_86"
                    ],
                    "tupperware_73",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_73"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                6879,
                7558
            ],
            "skill_idxes": [
                34,
                35,
                36
            ]
        },
        {
            "primitive_idx": 15,
            "primitive_id": [
                34
            ],
            "primitive_description": [
                "chop"
            ],
            "object_id": [
                [
                    "carving_knife_77",
                    [
                        "mushroom_81",
                        "mushroom_82"
                    ]
                ]
            ],
            "manipulating_object_id": [
                "carving_knife_77"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                7558,
                8104
            ],
            "skill_idxes": [
                37,
                38,
                39,
                40
            ]
        },
        {
            "primitive_idx": 16,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "half_mushroom_81_0",
                        "half_mushroom_81_1",
                        "half_mushroom_82_0",
                        "half_mushroom_82_1"
                    ],
                    "chopping_board_78",
                    "bowl_76"
                ]
            ],
            "manipulating_object_id": [
                "chopping_board_78"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8104,
                8447
            ],
            "skill_idxes": [
                41,
                42,
                43
            ]
        },
        {
            "primitive_idx": 17,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "half_mushroom_81_0",
                        "half_mushroom_81_1",
                        "half_mushroom_82_0",
                        "half_mushroom_82_1",
                        "diced__vidalia_onion",
                        "pepperoni_83",
                        "pepperoni_84",
                        "pepperoni_85",
                        "pepperoni_86"
                    ],
                    "bowl_76",
                    "pizza_dough_87"
                ]
            ],
            "manipulating_object_id": [
                "bowl_76"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                8447,
                9024
            ],
            "skill_idxes": [
                44,
                45,
                46,
                47,
                48
            ]
        },
        {
            "primitive_idx": 18,
            "primitive_id": [
                28
            ],
            "primitive_description": [
                "pour"
            ],
            "object_id": [
                [
                    [
                        "grated_cheese"
                    ],
                    "tupperware_75",
                    "pizza_dough_87"
                ]
            ],
            "manipulating_object_id": [
                "tupperware_75"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                9024,
                9531
            ],
            "skill_idxes": [
                49,
                50,
                51
            ]
        },
        {
            "primitive_idx": 19,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                9531,
                11034
            ],
            "skill_idxes": [
                52,
                53,
                54
            ]
        },
        {
            "primitive_idx": 20,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    "baking_sheet_79",
                    "bar_egwapq_0"
                ],
                [
                    "baking_sheet_79",
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "baking_sheet_79",
                "baking_sheet_79"
            ],
            "spatial_prefix": [
                [],
                [
                    [],
                    [
                        "high_level"
                    ]
                ]
            ],
            "frame_duration": [
                11034,
                11778
            ],
            "skill_idxes": [
                55,
                56,
                57
            ]
        },
        {
            "primitive_idx": 21,
            "primitive_id": [
                12
            ],
            "primitive_description": [
                "close door"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                11778,
                12132
            ],
            "skill_idxes": [
                58
            ]
        },
        {
            "primitive_idx": 22,
            "primitive_id": [
                69
            ],
            "primitive_description": [
                "turn on switch"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [
                "oven_ffitak_0"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                12132,
                12237
            ],
            "skill_idxes": [
                59
            ]
        },
        {
            "primitive_idx": 23,
            "primitive_id": [
                10
            ],
            "primitive_description": [
                "open door"
            ],
            "object_id": [
                [
                    "oven_ffitak_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12237,
                12600
            ],
            "skill_idxes": [
                60
            ]
        }
    ]
}