{
    "task_name": "make pizza",
    "data_folder": "",
    "meta_data": {
        "task_duration": 23375,
        "valid_duration": [16, 23391]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["baking_sheet_79"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16, 416],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 1,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["baking_sheet_79", "bar_egwapq_0"]],
            "manipulating_object_id": ["baking_sheet_79"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [416, 862],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["baking_sheet_79", "bar_egwapq_0", "oven_ffitak_0"]],
            "manipulating_object_id": ["baking_sheet_79"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "left"]],
            "frame_duration": [862, 1322],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 3,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["carving_knife_77"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1322, 1535],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 4,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["carving_knife_77", "bar_egwapq_0"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [1535, 1820],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["carving_knife_77", "bar_egwapq_0", "chopping_board_78"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "right"]],
            "frame_duration": [1820, 2152],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 6,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["vidalia_onion_80", "chopping_board_78"]],
            "manipulating_object_id": ["vidalia_onion_80"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2152, 2510],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 7,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["chopping_board_78", "bar_egwapq_0"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2510, 3284],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 8,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["chopping_board_78", "bar_egwapq_0", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "right"]],
            "frame_duration": [3284, 3766],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 9,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["vidalia_onion_80", "chopping_board_78"]],
            "manipulating_object_id": ["vidalia_onion_80"],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [3766, 4148],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 10,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["carving_knife_77", "bar_egwapq_0"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4148, 4410],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 11,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "vidalia_onion_80"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4410, 4534],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 12,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "half_vidalia_onion_80_0"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4534, 4639],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 13,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "half_vidalia_onion_80_1"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4639, 4703],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 14,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["carving_knife_77", "bar_egwapq_0", "chopping_board_78"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": ["back"],
            "spatial_prefix": [["", "", "right"]],
            "frame_duration": [4703, 4850],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 15,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["chopping_board_78", "bar_egwapq_0"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4850, 5159],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 16,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["diced__vidalia_onion"], "chopping_board_78", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5159, 5450],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 17,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["chopping_board_78", "bar_egwapq_0", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": ["back"],
            "spatial_prefix": [["", "", "right"]],
            "frame_duration": [5450, 5765],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 18,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [5765, 6136],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 19,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [6136, 7318],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 20,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_74", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_74"],
            "memory_prefix": [],
            "spatial_prefix": [["", "layer_4"]],
            "frame_duration": [7318, 8189],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 21,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_75", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [["", "layer_5"]],
            "frame_duration": [8189, 8879],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 22,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["baking_sheet_79"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [8879, 9092],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 23,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["tupperware_75", "drop_in_sink_lkklqs_0", "baking_sheet_79"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "left"]],
            "frame_duration": [9092, 9551],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 24,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]],
            "manipulating_object_id": ["tupperware_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9551, 9922],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 25,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["tupperware_74", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["tupperware_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9922, 10253],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 26,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [10253, 10645],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 27,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [10645, 11125],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 28,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [11125, 12542],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 29,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_73", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [["", "layer_5"]],
            "frame_duration": [12542, 13163],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 30,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [13163, 13995],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 31,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bowl_76"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [13995, 14330],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 32,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86"], "tupperware_73", "bowl_76"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [14330, 14822],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 33,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["tupperware_73", "tupperware_74"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [14822, 15061],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 34,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["carving_knife_77", "bar_egwapq_0"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15061, 15350],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 35,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "mushroom_81"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15350, 15420],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 36,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "mushroom_82"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [15420, 15497],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 37,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["carving_knife_77", "bar_egwapq_0"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [15497, 15615],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 38,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["chopping_board_78", "bar_egwapq_0"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15615, 15966],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 39,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1"], "chopping_board_78", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15966, 16082],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 40,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["chopping_board_78", "bar_egwapq_0"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [16082, 16472],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 41,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["bowl_76", "bar_egwapq_0"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16472, 16733],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 42,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["pizza_dough_87"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16733, 16935],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 43,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["diced__vidalia_onion", "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86"], "bowl_76", "pizza_dough_87"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16935, 17229],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 44,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["tupperware_73"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [17229, 17363],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 45,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["bowl_76", "tupperware_73"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17363, 17490],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 46,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_75", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17490, 17759],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 47,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["grated_cheese"], "tupperware_75", "pizza_dough_87"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17759, 18258],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 48,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["tupperware_75", "drop_in_sink_lkklqs_0"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [18258, 18530],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 49,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18530, 18640],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 50,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18640, 19354],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 51,
            "skill_id": [101],
            "skill_description": ["pull tray"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": ["oven_ffitak_0"],
            "memory_prefix": [],
            "spatial_prefix": [["high_level"]],
            "frame_duration": [19354, 20305],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 52,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["baking_sheet_79", "bar_egwapq_0"]],
            "manipulating_object_id": ["baking_sheet_79"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [20305, 20822],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 53,
            "skill_id": [4],
            "skill_description": ["place in"],
            "object_id": [["baking_sheet_79", "oven_ffitak_0"]],
            "manipulating_object_id": ["baking_sheet_79"],
            "memory_prefix": [],
            "spatial_prefix": [["", "high_level"]],
            "frame_duration": [20822, 21512],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 54,
            "skill_id": [100],
            "skill_description": ["push tray"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": ["oven_ffitak_0"],
            "memory_prefix": [],
            "spatial_prefix": [["high_level"]],
            "frame_duration": [21512, 21821],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 55,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [21821, 22380],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 56,
            "skill_id": [69],
            "skill_description": ["turn on switch"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": ["oven_ffitak_0"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [22380, 22666],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 57,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [22666, 23391],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [2, 91],
            "primitive_description": ["pick up from", "place on next to"],
            "object_id": [["baking_sheet_79", "bar_egwapq_0"], ["baking_sheet_79", "bar_egwapq_0", "oven_ffitak_0"]],
            "manipulating_object_id": ["baking_sheet_79", "baking_sheet_79"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], [], ["left"]]],
            "frame_duration": [16, 1322],
            "skill_idxes": [0, 1, 2]
        },
        {
            "primitive_idx": 1,
            "primitive_id": [2, 91],
            "primitive_description": ["pick up from", "place on next to"],
            "object_id": [["carving_knife_77", "bar_egwapq_0"], ["carving_knife_77", "bar_egwapq_0", "chopping_board_78"]],
            "manipulating_object_id": ["carving_knife_77", "carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], [], ["right"]]],
            "frame_duration": [1322, 2152],
            "skill_idxes": [3, 4, 5]
        },
        {
            "primitive_idx": 2,
            "primitive_id": [2],
            "primitive_description": ["pick up from"],
            "object_id": [["vidalia_onion_80", "chopping_board_78"]],
            "manipulating_object_id": ["vidalia_onion_80"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2152, 2510],
            "skill_idxes": [6]
        },
        {
            "primitive_idx": 3,
            "primitive_id": [2, 91],
            "primitive_description": ["pick up from", "place on next to"],
            "object_id": [["chopping_board_78", "bar_egwapq_0"], ["chopping_board_78", "bar_egwapq_0", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78", "chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], [], ["right"]]],
            "frame_duration": [2510, 3766],
            "skill_idxes": [7, 8]
        },
        {
            "primitive_idx": 4,
            "primitive_id": [3],
            "primitive_description": ["place on"],
            "object_id": [["vidalia_onion_80", "chopping_board_78"]],
            "manipulating_object_id": ["vidalia_onion_80"],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [3766, 4148],
            "skill_idxes": [9]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [34],
            "primitive_description": ["chop"],
            "object_id": [["carving_knife_77", ["vidalia_onion_80", "half_vidalia_onion_80_0", "half_vidalia_onion_80_1"]]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4148, 4850],
            "skill_idxes": [10, 11, 12, 13, 14]
        },
        {
            "primitive_idx": 6,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["diced__vidalia_onion"], "chopping_board_78", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [4850, 5765],
            "skill_idxes": [15, 16, 17]
        },
        {
            "primitive_idx": 7,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door"]]],
            "frame_duration": [5765, 7318],
            "skill_idxes": [18, 19]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [2, 91, 28],
            "primitive_description": ["pick up from", "place on next to", "pour"],
            "object_id": [[["tupperware_74", "tupperware_75"], "fridge_petcxr_0"], ["tupperware_75", "drop_in_sink_lkklqs_0", "baking_sheet_79"], [["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]],
            "manipulating_object_id": [["tupperware_74", "tupperware_75"], "tupperware_75", "tupperware_74"],
            "memory_prefix": [],
            "spatial_prefix": [[[], ["layer_4", "layer_5"]], [[], [], ["left"]], []],
            "frame_duration": [7318, 10253],
            "skill_idxes": [20, 21, 22, 23, 24, 25]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door"]]],
            "frame_duration": [10253, 11125],
            "skill_idxes": [26, 27]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["left_door"]]],
            "frame_duration": [11125, 12542],
            "skill_idxes": [28]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [2],
            "primitive_description": ["pick up from"],
            "object_id": [["tupperware_73", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [[[], ["layer_5"]]],
            "frame_duration": [12542, 13163],
            "skill_idxes": [29]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["left_door"]]],
            "frame_duration": [13163, 13995],
            "skill_idxes": [30]
        },
        {
            "primitive_idx": 13,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86"], "tupperware_73", "bowl_76"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [13995, 15061],
            "skill_idxes": [31, 32, 33]
        },
        {
            "primitive_idx": 14,
            "primitive_id": [34],
            "primitive_description": ["chop"],
            "object_id": [["carving_knife_77", ["mushroom_81", "mushroom_82"]]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15061, 15615],
            "skill_idxes": [34, 35, 36, 37]
        },
        {
            "primitive_idx": 15,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1"], "chopping_board_78", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [15615, 16472],
            "skill_idxes": [38, 39, 40]
        },
        {
            "primitive_idx": 16,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["diced__vidalia_onion", "half_mushroom_81_0", "half_mushroom_81_1", "half_mushroom_82_0", "half_mushroom_82_1", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86"], "bowl_76", "pizza_dough_87"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16472, 17490],
            "skill_idxes": [41, 42, 43, 44, 45]
        },
        {
            "primitive_idx": 17,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["grated_cheese"], "tupperware_75", "pizza_dough_87"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17490, 18530],
            "skill_idxes": [46, 47, 48]
        },
        {
            "primitive_idx": 18,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18530, 20305],
            "skill_idxes": [49, 50, 51]
        },
        {
            "primitive_idx": 19,
            "primitive_id": [2, 4],
            "primitive_description": ["pick up from", "place in"],
            "object_id": [["baking_sheet_79", "bar_egwapq_0"], ["baking_sheet_79", "oven_ffitak_0"]],
            "manipulating_object_id": ["baking_sheet_79", "baking_sheet_79"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], ["high_level"]]],
            "frame_duration": [20305, 21821],
            "skill_idxes": [52, 53, 54]
        },
        {
            "primitive_idx": 20,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [21821, 22380],
            "skill_idxes": [55]
        },
        {
            "primitive_idx": 21,
            "primitive_id": [69],
            "primitive_description": ["turn on switch"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": ["oven_ffitak_0"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [22380, 22666],
            "skill_idxes": [56]
        },
        {
            "primitive_idx": 22,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [22666, 23391],
            "skill_idxes": [57]
        }
    ]
}