{
    "task_name": "chop an onion",
    "data_folder": "",
    "meta_data": {
        "task_duration": 6546,
        "valid_duration": [18, 6564]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["cutting_board_76"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18, 1125],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 1,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["cutting_board_76", "bar_egwapq_0"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1125, 1481],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bowl_73"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1481, 1605],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 3,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bowl_73", "bar_egwapq_0"]],
            "manipulating_object_id": ["bowl_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1605, 1849],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 4,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["bowl_73", "bar_egwapq_0", "parer_74"]],
            "manipulating_object_id": ["bowl_73"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "left"]],
            "frame_duration": [1849, 1978],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["cutting_board_76", "bar_egwapq_0", "bowl_73"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "right"]],
            "frame_duration": [1978, 2352],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 6,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["vidalia_onion_75"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2352, 2394],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 7,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["vidalia_onion_75", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["vidalia_onion_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2394, 2788],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 8,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["parer_74"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2788, 2890],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 9,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["parer_74", "bar_egwapq_0"]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2890, 3102],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 10,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["vidalia_onion_75", "cutting_board_76"]],
            "manipulating_object_id": ["vidalia_onion_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3102, 3300],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 11,
            "skill_id": [90],
            "skill_description": ["push to"],
            "object_id": [["vidalia_onion_75", "cutting_board_76"]],
            "manipulating_object_id": ["vidalia_onion_75"],
            "memory_prefix": [],
            "spatial_prefix": [["", "center"]],
            "frame_duration": [3300, 3825],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 12,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["parer_74", "vidalia_onion_75"]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3825, 3930],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 13,
            "skill_id": [90],
            "skill_description": ["push to"],
            "object_id": [["half_vidalia_onion_75_0", "cutting_board_76"]],
            "manipulating_object_id": ["half_vidalia_onion_75_0"],
            "memory_prefix": [],
            "spatial_prefix": [["", "center"]],
            "frame_duration": [3930, 4080],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 14,
            "skill_id": [90],
            "skill_description": ["push to"],
            "object_id": [["half_vidalia_onion_75_1", "cutting_board_76"]],
            "manipulating_object_id": ["half_vidalia_onion_75_1"],
            "memory_prefix": [],
            "spatial_prefix": [["", "center"]],
            "frame_duration": [4080, 4215],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 15,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["parer_74", "half_vidalia_onion_75_0"]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4215, 4435],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 16,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["parer_74", "half_vidalia_onion_75_1"]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4435, 4590],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 17,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["parer_74", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4590, 4889],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 18,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["cutting_board_76", "bar_egwapq_0"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4889, 5325],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 19,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["diced__vidalia_onion"], "cutting_board_76", "bowl_73"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5325, 5895],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 20,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5895, 5963],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 21,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["cutting_board_76", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5963, 6564],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [2],
            "primitive_description": ["pick up from"],
            "object_id": [["cutting_board_76", "bar_egwapq_0"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18, 1481],
            "skill_idxes": [0, 1]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [2, 91],
            "primitive_description": ["pick up from", "place on next to"],
            "object_id": [["bowl_73", "bar_egwapq_0"], ["bowl_73", "bar_egwapq_0", "parer_74"]],
            "manipulating_object_id": ["bowl_73", "bowl_73"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], [], ["left"]]],
            "frame_duration": [1481, 1978],
            "skill_idxes": [2, 3, 4]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [91],
            "primitive_description": ["place on next to"],
            "object_id": [["cutting_board_76", "bar_egwapq_0", "bowl_73"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [[[], [], ["right"]]],
            "frame_duration": [1978, 2352],
            "skill_idxes": [5]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [2],
            "primitive_description": ["pick up from"],
            "object_id": [["vidalia_onion_75", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["vidalia_onion_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2352, 2788],
            "skill_idxes": [6, 7]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [2],
            "primitive_description": ["pick up from"],
            "object_id": [["parer_74", "bar_egwapq_0"]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2788, 3102],
            "skill_idxes": [8, 9]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [3],
            "primitive_description": ["place on"],
            "object_id": [["vidalia_onion_75", "cutting_board_76"]],
            "manipulating_object_id": ["vidalia_onion_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3102, 3300],
            "skill_idxes": [10]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [34],
            "primitive_description": ["chop"],
            "object_id": [["parer_74", ["vidalia_onion_75", "half_vidalia_onion_75_0", "half_vidalia_onion_75_1"]]],
            "manipulating_object_id": ["parer_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3300, 4889],
            "skill_idxes": [11, 12, 13, 14, 15, 16, 17]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["diced__vidalia_onion"], "cutting_board_76", "bowl_73"]],
            "manipulating_object_id": ["cutting_board_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4889, 6564],
            "skill_idxes": [18, 19, 20, 21]
        }
    ]
}