{
    "task_name": "rearranging kitchen furniture",
    "data_folder": "",
    "meta_data": {
        "task_duration": 9984,
        "valid_duration": [12, 9996]
    },
    "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": [12, 721],
            "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": [["left_door"]],
            "frame_duration": [721, 1629],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [1629, 2978],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 3,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["french_press_89"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2978, 3237],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 4,
            "skill_id": [93],
            "skill_description": ["turn to"],
            "object_id": [["french_press_89", "robot"]],
            "manipulating_object_id": ["french_press_89"],
            "memory_prefix": [],
            "spatial_prefix": [["", "face_away"]],
            "frame_duration": [3237, 6177],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "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": [6177, 6306],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 6,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [6306, 6548],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 7,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["french_press_89", "top_cabinet_tynnnw_1"]],
            "manipulating_object_id": ["french_press_89"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level"]],
            "frame_duration": [6548, 6835],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 8,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["toaster_91"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [6836, 7050],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 9,
            "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": [7050, 7315],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 10,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [7315, 7446],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 11,
            "skill_id": [92],
            "skill_description": ["place in next to"],
            "object_id": [["toaster_91", "top_cabinet_tynnnw_1", "french_press_89"]],
            "manipulating_object_id": ["toaster_91"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level", "left"]],
            "frame_duration": [7446, 8004],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 12,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["food_processor_90"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [8005, 8165],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 13,
            "skill_id": [93],
            "skill_description": ["turn to"],
            "object_id": [["food_processor_90", "robot"]],
            "manipulating_object_id": ["food_processor_90"],
            "memory_prefix": [],
            "spatial_prefix": [["", "face_away"]],
            "frame_duration": [8165, 8405],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 14,
            "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": [8405, 8526],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 15,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [8527, 8733],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 16,
            "skill_id": [92],
            "skill_description": ["place in next to"],
            "object_id": [["food_processor_90", "top_cabinet_tynnnw_1", "french_press_89"]],
            "manipulating_object_id": ["food_processor_90"],
            "memory_prefix": [],
            "spatial_prefix": [["", "low_level", "left"]],
            "frame_duration": [8733, 9106],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 17,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [9106, 9396],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 18,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [9396, 9996],
            "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": [[["left_door", "right_door"]]],
            "frame_duration": [12, 2978],
            "skill_idxes": [0, 1, 2]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [["french_press_89", "bar_byvbuc_0"], ["french_press_89", "top_cabinet_tynnnw_1"]],
            "manipulating_object_id": ["french_press_89", "french_press_89"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["low_level"]]],
            "frame_duration": [2978, 6835],
            "skill_idxes": [3, 4, 5, 6, 7]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [2, 92],
            "primitive_description": ["pick up from", "place in next to"],
            "object_id": [["toaster_91", "bar_byvbuc_0"], ["toaster_91", "top_cabinet_tynnnw_1", "french_press_89"]],
            "manipulating_object_id": ["toaster_91", "toaster_91"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["low_level"], ["left"]]],
            "frame_duration": [6836, 8004],
            "skill_idxes": [8, 9, 10, 11]
        },
        {
            "primitive_idx": 3,
            "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", "french_press_89"]],
            "manipulating_object_id": ["food_processor_90", "food_processor_90"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["low_level"], ["left"]]],
            "frame_duration": [8005, 9106],
            "skill_idxes": [12, 13, 14, 15, 16]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["top_cabinet_tynnnw_1"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["left_door", "right_door"]]],
            "frame_duration": [9106, 9996],
            "skill_idxes": [17, 18]
        }
    ]
}