{
    "task_name": "boxing books up for storage",
    "data_folder": "",
    "meta_data": {
        "task_duration": 26783,
        "valid_duration": [
            0,
            26783
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                418
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "storage_box_49",
                    "floors_rfqizg_0"
                ]
            ],
            "manipulating_object_id": [
                "storage_box_49"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                419,
                1359
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "sofa_ukfaaz_0"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                1359,
                3398
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "storage_box_49",
                    "sofa_ukfaaz_0"
                ]
            ],
            "manipulating_object_id": [
                "storage_box_49"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                3398,
                3950
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hardback_51"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                3950,
                5299
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hardback_51",
                    "bookcase_otwukr_0"
                ]
            ],
            "manipulating_object_id": [
                "hardback_51"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                5300,
                6882
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 6,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hardback_51",
                    "bookcase_otwukr_0"
                ]
            ],
            "manipulating_object_id": [
                "hardback_51"
            ],
            "spatial_prefix": [
                [
                    "",
                    "3X2"
                ]
            ],
            "frame_duration": [
                6882,
                7615
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 7,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hardback_54"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                7615,
                7708
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 8,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hardback_54",
                    "bookcase_otwukr_3"
                ]
            ],
            "manipulating_object_id": [
                "hardback_54"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                7708,
                8424
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 9,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hardback_54",
                    "bookcase_otwukr_3"
                ]
            ],
            "manipulating_object_id": [
                "hardback_54"
            ],
            "spatial_prefix": [
                [
                    "",
                    "3X1"
                ]
            ],
            "frame_duration": [
                8424,
                8931
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 10,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                8931,
                10714
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 11,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hardback_51",
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                "hardback_51"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                10714,
                11425
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 12,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hardback_54",
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                "hardback_54"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                11425,
                12047
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 13,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hardback_55"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                12047,
                13170
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 14,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hardback_55",
                    "bookcase_otwukr_3"
                ]
            ],
            "manipulating_object_id": [
                "hardback_55"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                13170,
                14406
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 15,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hardback_55",
                    "bookcase_otwukr_3"
                ]
            ],
            "manipulating_object_id": [
                "hardback_55"
            ],
            "spatial_prefix": [
                [
                    "",
                    "2X2"
                ]
            ],
            "frame_duration": [
                14406,
                14915
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 16,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hardback_52"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                14916,
                15013
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 17,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hardback_52",
                    "bookcase_otwukr_1"
                ]
            ],
            "manipulating_object_id": [
                "hardback_52"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                15014,
                15805
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 18,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hardback_52",
                    "bookcase_otwukr_1"
                ]
            ],
            "manipulating_object_id": [
                "hardback_52"
            ],
            "spatial_prefix": [
                [
                    "",
                    "2X1"
                ]
            ],
            "frame_duration": [
                15806,
                16323
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 19,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                16323,
                18284
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 20,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hardback_55",
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                "hardback_55"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18284,
                18541
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 21,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hardback_52",
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                "hardback_52"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                18541,
                19092
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 22,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hardback_53"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                19092,
                20458
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 23,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hardback_53",
                    "bookcase_otwukr_1"
                ]
            ],
            "manipulating_object_id": [
                "hardback_53"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                20458,
                21475
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 24,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hardback_53",
                    "bookcase_otwukr_1"
                ]
            ],
            "manipulating_object_id": [
                "hardback_53"
            ],
            "spatial_prefix": [
                [
                    "",
                    "3X2"
                ]
            ],
            "frame_duration": [
                21476,
                22072
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 25,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "hardback_50"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                22073,
                22164
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 26,
            "skill_id": [
                90
            ],
            "skill_description": [
                "push to"
            ],
            "object_id": [
                [
                    "hardback_50",
                    "bookcase_otwukr_2"
                ]
            ],
            "manipulating_object_id": [
                "hardback_50"
            ],
            "spatial_prefix": [
                [
                    "",
                    "to_the_edge_of"
                ]
            ],
            "frame_duration": [
                22164,
                22812
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 27,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "hardback_50",
                    "bookcase_otwukr_2"
                ]
            ],
            "manipulating_object_id": [
                "hardback_50"
            ],
            "spatial_prefix": [
                [
                    "",
                    "3X1"
                ]
            ],
            "frame_duration": [
                22812,
                23362
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 28,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                23362,
                25487
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 29,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hardback_53",
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                "hardback_53"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                25487,
                26003
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 30,
            "skill_id": [
                4
            ],
            "skill_description": [
                "place in"
            ],
            "object_id": [
                [
                    "hardback_50",
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                "hardback_50"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                26003,
                26783
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2,
                3
            ],
            "primitive_description": [
                "pick up from",
                "place on"
            ],
            "object_id": [
                [
                    "storage_box_49",
                    "floors_rfqizg_0"
                ],
                [
                    "storage_box_49",
                    "sofa_ukfaaz_0"
                ]
            ],
            "manipulating_object_id": [
                "storage_box_49",
                "storage_box_49"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                3950
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3
            ]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hardback_51",
                        "hardback_54"
                    ],
                    [
                        "bookcase_otwukr_0",
                        "bookcase_otwukr_3"
                    ]
                ],
                [
                    [
                        "hardback_51",
                        "hardback_54"
                    ],
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hardback_51",
                    "hardback_54"
                ],
                [
                    "hardback_51",
                    "hardback_54"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "3X2",
                        "3X1"
                    ]
                ],
                []
            ],
            "frame_duration": [
                3950,
                12047
            ],
            "skill_idxes": [
                4,
                5,
                6,
                7,
                8,
                9,
                10,
                11,
                12
            ]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hardback_55",
                        "hardback_52"
                    ],
                    [
                        "bookcase_otwukr_3",
                        "bookcase_otwukr_1"
                    ]
                ],
                [
                    [
                        "hardback_55",
                        "hardback_52"
                    ],
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hardback_55",
                    "hardback_52"
                ],
                [
                    "hardback_55",
                    "hardback_52"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "2X2",
                        "2X1"
                    ]
                ],
                []
            ],
            "frame_duration": [
                12047,
                19092
            ],
            "skill_idxes": [
                13,
                14,
                15,
                16,
                17,
                18,
                19,
                20,
                21
            ]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [
                2,
                4
            ],
            "primitive_description": [
                "pick up from",
                "place in"
            ],
            "object_id": [
                [
                    [
                        "hardback_53",
                        "hardback_50"
                    ],
                    [
                        "bookcase_otwukr_1",
                        "bookcase_otwukr_2"
                    ]
                ],
                [
                    [
                        "hardback_53",
                        "hardback_50"
                    ],
                    "storage_box_49"
                ]
            ],
            "manipulating_object_id": [
                [
                    "hardback_53",
                    "hardback_50"
                ],
                [
                    "hardback_53",
                    "hardback_50"
                ]
            ],
            "spatial_prefix": [
                [
                    [],
                    [
                        "3X2",
                        "3X1"
                    ]
                ],
                []
            ],
            "frame_duration": [
                19092,
                26783
            ],
            "skill_idxes": [
                22,
                23,
                24,
                25,
                26,
                27,
                28,
                29,
                30
            ]
        }
    ]
}