{
    "task_name": "rearranging kitchen furniture",
    "data_folder": "",
    "meta_data": {
        "task_duration": 8253,
        "valid_duration": [0, 8253]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [0, 381],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 1,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [381, 1566],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [1567, 2598],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 3,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["toaster_91"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2598, 2708],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 4,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["toaster_91", "bar_byvbuc_0"]],
            "manipulating_object_id": ["toaster_91"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2708, 3272],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [3273, 3462],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 6,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["toaster_91", "top_cabinet_tynnnw_1"]],
            "manipulating_object_id": ["toaster_91"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level"]],
            "frame_duration": [3462, 3897],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 7,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["food_processor_90"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [3897, 4059],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 8,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["food_processor_90", "bar_byvbuc_0"]],
            "manipulating_object_id": ["food_processor_90"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4059, 4720],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 9,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [4721, 4920],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 10,
            "skill_id": [92],
            "skill_description": ["place in next to"],
            "object_id": [["food_processor_90", "top_cabinet_tynnnw_1", "toaster_91"]],
            "manipulating_object_id": ["food_processor_90"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level", "right"]],
            "frame_duration": [4920, 5233],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 11,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["french_press_89"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [5233, 5411],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 12,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["french_press_89", "bar_byvbuc_0"]],
            "manipulating_object_id": ["french_press_89"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5411, 6285],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 13,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [6285, 6444],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 14,
            "skill_id": [92],
            "skill_description": ["place in next to"],
            "object_id": [["french_press_89", "top_cabinet_tynnnw_1", "food_processor_90"]],
            "manipulating_object_id": ["french_press_89"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level", "right"]],
            "frame_duration": [6444, 7141],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 15,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [7141, 7776],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 16,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [7776, 8253],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door", "left_door"]]],
            "frame_duration": [0, 2598],
            "skill_idxes": [0, 1, 2]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [["toaster_91", "bar_byvbuc_0"], ["toaster_91", "top_cabinet_tynnnw_1"]],
            "manipulating_object_id": ["toaster_91", "toaster_91"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["low_level"]]],
            "frame_duration": [2598, 3897],
            "skill_idxes": [3, 4, 5, 6]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [2, 92],
            "primitive_description": ["pick up from", "place in next to"],
            "object_id": [["food_processor_90", "bar_byvbuc_0"], ["food_processor_90", "top_cabinet_tynnnw_1", "toaster_91"]],
            "manipulating_object_id": ["food_processor_90", "food_processor_90"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["low_level"], ["right"]]],
            "frame_duration": [3897, 5233],
            "skill_idxes": [7, 8, 9, 10]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [2, 92],
            "primitive_description": ["pick up from", "place in next to"],
            "object_id": [["french_press_89", "bar_byvbuc_0"], ["french_press_89", "top_cabinet_tynnnw_1", "food_processor_90"]],
            "manipulating_object_id": ["french_press_89", "french_press_89"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["low_level"], ["right"]]],
            "frame_duration": [5233, 7141],
            "skill_idxes": [11, 12, 13, 14]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door", "left_door"]]],
            "frame_duration": [7141, 8253],
            "skill_idxes": [15, 16]
        }
    ]
}