{
    "task_name": "can meat",
    "data_folder": "",
    "meta_data": {
        "task_duration": 13657,
        "valid_duration": [184, 13841]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [184, 520],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 1,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [520, 1960],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [1960, 2399],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 3,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]],
            "manipulating_object_id": ["hinged_jar_236"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level"]],
            "frame_duration": [2399, 3502],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 4,
            "skill_id": [13],
            "skill_description": ["open lid"],
            "object_id": [["hinged_jar_236"]],
            "manipulating_object_id": ["hinged_jar_236"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3502, 3854],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 5,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bratwurst_233"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [3854, 4654],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 6,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bratwurst_233", "cutting_board_234"]],
            "manipulating_object_id": ["bratwurst_233"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4654, 5054],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 7,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["bratwurst_233", "hinged_jar_236"]],
            "manipulating_object_id": ["bratwurst_233"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5054, 5308],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 8,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bratwurst_232", "cutting_board_234"]],
            "manipulating_object_id": ["bratwurst_232"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [5308, 5639],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 9,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["bratwurst_232", "hinged_jar_236"]],
            "manipulating_object_id": ["bratwurst_232"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5639, 5841],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 10,
            "skill_id": [14],
            "skill_description": ["close lid"],
            "object_id": [["hinged_jar_236"]],
            "manipulating_object_id": ["hinged_jar_236"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5841, 6060],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 11,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [6060, 7065],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 12,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]],
            "manipulating_object_id": ["hinged_jar_236"],
            "memory_prefix": ["back"],
            "spatial_prefix": [["", "low_level"]],
            "frame_duration": [7065, 7650],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 13,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]],
            "manipulating_object_id": ["hinged_jar_235"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [["", "high_level"]],
            "frame_duration": [7650, 8655],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 14,
            "skill_id": [5],
            "skill_description": ["hand over"],
            "object_id": [["hinged_jar_235", "left", "right"]],
            "manipulating_object_id": ["hinged_jar_235"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [8655, 9002],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 15,
            "skill_id": [13],
            "skill_description": ["open lid"],
            "object_id": [["hinged_jar_235"]],
            "manipulating_object_id": ["hinged_jar_235"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9002, 9247],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 16,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bratwurst_230"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back", "the other"],
            "spatial_prefix": [],
            "frame_duration": [9247, 9902],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 17,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bratwurst_230", "cutting_board_234"]],
            "manipulating_object_id": ["bratwurst_230"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [9902, 10641],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 18,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["bratwurst_230", "hinged_jar_235"]],
            "manipulating_object_id": ["bratwurst_230"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [10641, 10920],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 19,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bratwurst_231", "cutting_board_234"]],
            "manipulating_object_id": ["bratwurst_231"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [10920, 11271],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 20,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["bratwurst_231", "hinged_jar_235"]],
            "manipulating_object_id": ["bratwurst_231"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [11271, 11574],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 21,
            "skill_id": [14],
            "skill_description": ["close lid"],
            "object_id": [["hinged_jar_235"]],
            "manipulating_object_id": ["hinged_jar_235"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [11574, 11804],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 22,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [11804, 12289],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 23,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]],
            "manipulating_object_id": ["hinged_jar_235"],
            "memory_prefix": ["back"],
            "spatial_prefix": [["", "high_level"]],
            "frame_duration": [12289, 12907],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 24,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [12907, 13501],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 25,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [13501, 13841],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door", "left_door"]]],
            "frame_duration": [184, 2399],
            "skill_idxes": [0, 1, 2]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [[["hinged_jar_236", "bratwurst_233", "bratwurst_232"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_233", "bratwurst_232"], "hinged_jar_236"]],
            "manipulating_object_id": [["hinged_jar_236", "bratwurst_233", "bratwurst_232"], ["bratwurst_233", "bratwurst_232"]],
            "memory_prefix": [],
            "spatial_prefix": [[[], ["low_level", "", ""]], []],
            "frame_duration": [2399, 6060],
            "skill_idxes": [3, 4, 5, 6, 7, 8, 9, 10]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [4],
            "primitive_description": ["place in"],
            "object_id": [["hinged_jar_236", "top_cabinet_lkxmne_2"]],
            "manipulating_object_id": ["hinged_jar_236"],
            "memory_prefix": ["back"],
            "spatial_prefix": [[[], ["low_level"]]],
            "frame_duration": [6060, 7650],
            "skill_idxes": [11, 12]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [[["hinged_jar_235", "bratwurst_230", "bratwurst_231"], ["top_cabinet_lkxmne_2", "cutting_board_234", "cutting_board_234"]], [["bratwurst_230", "bratwurst_231"], "hinged_jar_235"]],
            "manipulating_object_id": [["hinged_jar_235", "bratwurst_230", "bratwurst_231"], ["bratwurst_230", "bratwurst_231"]],
            "memory_prefix": ["the other", ""],
            "spatial_prefix": [[[], ["high_level", "", ""]], []],
            "frame_duration": [7650, 11804],
            "skill_idxes": [13, 14, 15, 16, 17, 18, 19, 20, 21]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [4],
            "primitive_description": ["place in"],
            "object_id": [["hinged_jar_235", "top_cabinet_lkxmne_2"]],
            "manipulating_object_id": ["hinged_jar_235"],
            "memory_prefix": ["back"],
            "spatial_prefix": [[[], ["high_level"]]],
            "frame_duration": [11804, 12907],
            "skill_idxes": [22, 23]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["top_cabinet_lkxmne_2"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["left_door", "right_door"]]],
            "frame_duration": [12907, 13841],
            "skill_idxes": [24, 25]
        }
    ]
}