{
    "task_name": "make pizza",
    "data_folder": "",
    "meta_data": {
        "task_duration": 24210,
        "valid_duration": [0, 24210]
    },
    "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": [0, 345],
            "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": [345, 565],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 2,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [565, 739],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 3,
            "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": [739, 1277],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 4,
            "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": [1277, 2161],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 5,
            "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": [2161, 2935],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 6,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bowl_76"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [2935, 3133],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 7,
            "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": [3133, 3744],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 8,
            "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": [3744, 4183],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 9,
            "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": [4183, 4596],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 10,
            "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": [4596, 4764],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 11,
            "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": [4764, 4984],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 12,
            "skill_id": [91],
            "skill_description": ["place on next to"],
            "object_id": [["bowl_76", "bar_egwapq_0", "chopping_board_78"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [["", "", "left"]],
            "frame_duration": [4984, 5319],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 13,
            "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": [5379, 5577],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 14,
            "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": [5577, 5679],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 15,
            "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": [5679, 5734],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 16,
            "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": [5734, 5782],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 17,
            "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": [5782, 5863],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 18,
            "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": [5863, 6168],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 19,
            "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": [6168, 6364],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 20,
            "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": [6364, 6645],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 21,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [6645, 7089],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 22,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [7089, 8455],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 23,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_75", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_75"],
            "memory_prefix": [],
            "spatial_prefix": [["", "layer_5"]],
            "frame_duration": [8455, 8997],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 24,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["baking_sheet_79"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [8997, 9156],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 25,
            "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": [9156, 9504],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 26,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["tupperware_74"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back", "the other"],
            "spatial_prefix": [],
            "frame_duration": [9504, 9807],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 27,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_74", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_74"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [["", "layer_4"]],
            "frame_duration": [9807, 10287],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 28,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["chopping_board_78"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [10287, 10566],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 29,
            "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": [10566, 10939],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 30,
            "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": [10939, 11206],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 31,
            "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": [11206, 11415],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 32,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "mushroom_82"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [11415, 11475],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 33,
            "skill_id": [34],
            "skill_description": ["chop"],
            "object_id": [["carving_knife_77", "mushroom_81"]],
            "manipulating_object_id": ["carving_knife_77"],
            "memory_prefix": ["the other"],
            "spatial_prefix": [],
            "frame_duration": [11475, 11559],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 34,
            "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": [11559, 11710],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 35,
            "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": [11710, 12072],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 36,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["half_mushroom_82_0", "half_mushroom_82_1", "half_mushroom_81_0", "half_mushroom_81_1"], "chopping_board_78", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [12072, 12331],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 37,
            "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": [12331, 12699],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 38,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": ["fridge_petcxr_0"],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [12699, 13117],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 39,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["right_door"]],
            "frame_duration": [13117, 13746],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 40,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [13746, 15049],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 41,
            "skill_id": [2],
            "skill_description": ["pick up from"],
            "object_id": [["tupperware_73", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [["", "layer_3"]],
            "frame_duration": [15049, 15957],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 42,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [["left_door"]],
            "frame_duration": [15957, 16537],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 43,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["bowl_76"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [16537, 16869],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 44,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["pepperoni_85", "pepperoni_86", "pepperoni_84", "pepperoni_83"], "tupperware_73", "bowl_76"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16869, 17173],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 45,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["tupperware_73", "tupperware_74"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17173, 17372],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 46,
            "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": [17372, 17633],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 47,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["pizza_dough_87"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17633, 17783],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 48,
            "skill_id": [28],
            "skill_description": ["pour"],
            "object_id": [[["diced__vidalia_onion", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "half_mushroom_82_1", "half_mushroom_82_0", "half_mushroom_81_1", "half_mushroom_81_0"], "bowl_76", "pizza_dough_87"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17783, 18057],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 49,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["tupperware_73"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [18057, 18154],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 50,
            "skill_id": [3],
            "skill_description": ["place on"],
            "object_id": [["bowl_76", "tupperware_73"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [18154, 18262],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 51,
            "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": [18262, 18418],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 52,
            "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": [18418, 18832],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 53,
            "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": [18832, 19132],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 54,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [19132, 19332],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 55,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [19332, 19948],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 56,
            "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": [19948, 21010],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 57,
            "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": [21010, 21637],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 58,
            "skill_id": [1],
            "skill_description": ["move to"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": ["back"],
            "spatial_prefix": [],
            "frame_duration": [21637, 21741],
            "mp_ef": [],
            "skill_type": ["navigation"]
        },
        {
            "skill_idx": 59,
            "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": [21741, 22395],
            "mp_ef": [],
            "skill_type": ["coordinated"]
        },
        {
            "skill_idx": 60,
            "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": [22395, 22806],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 61,
            "skill_id": [12],
            "skill_description": ["close door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [22806, 23256],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 62,
            "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": [23256, 23409],
            "mp_ef": [],
            "skill_type": ["uncoordinated"]
        },
        {
            "skill_idx": 63,
            "skill_id": [10],
            "skill_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [23409, 24210],
            "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": [0, 1277],
            "skill_idxes": [0, 1, 2, 3]
        },
        {
            "primitive_idx": 1,
            "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": [1277, 2161],
            "skill_idxes": [4]
        },
        {
            "primitive_idx": 2,
            "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": [2161, 3744],
            "skill_idxes": [5, 6, 7]
        },
        {
            "primitive_idx": 3,
            "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": [3744, 4183],
            "skill_idxes": [8]
        },
        {
            "primitive_idx": 4,
            "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": [4183, 4764],
            "skill_idxes": [9, 10]
        },
        {
            "primitive_idx": 5,
            "primitive_id": [2, 91],
            "primitive_description": ["pick up from", "place on next to"],
            "object_id": [["bowl_76", "bar_egwapq_0"], ["bowl_76", "bar_egwapq_0", "chopping_board_78"]],
            "manipulating_object_id": ["bowl_76", "bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [[], [[], [], ["left"]]],
            "frame_duration": [4764, 5319],
            "skill_idxes": [11, 12]
        },
        {
            "primitive_idx": 6,
            "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": [5379, 5863],
            "skill_idxes": [13, 14, 15, 16, 17]
        },
        {
            "primitive_idx": 7,
            "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": [5863, 6645],
            "skill_idxes": [18, 19, 20]
        },
        {
            "primitive_idx": 8,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door"]]],
            "frame_duration": [6645, 8455],
            "skill_idxes": [21, 22]
        },
        {
            "primitive_idx": 9,
            "primitive_id": [2, 91],
            "primitive_description": ["pick up from", "place on next to"],
            "object_id": [["tupperware_75", "fridge_petcxr_0"], ["tupperware_75", "drop_in_sink_lkklqs_0", "baking_sheet_79"]],
            "manipulating_object_id": ["tupperware_75", "tupperware_75"],
            "memory_prefix": [],
            "spatial_prefix": [[[], ["layer_5"]], [[], [], ["left"]]],
            "frame_duration": [8455, 9504],
            "skill_idxes": [23, 24, 25]
        },
        {
            "primitive_idx": 10,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["mushroom_81", "mushroom_82"], "tupperware_74", "chopping_board_78"]],
            "manipulating_object_id": ["tupperware_74"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [9504, 11206],
            "skill_idxes": [26, 27, 28, 29, 30]
        },
        {
            "primitive_idx": 11,
            "primitive_id": [34, 3],
            "primitive_description": ["chop", "place on"],
            "object_id": [["carving_knife_77", ["mushroom_82", "mushroom_81"]], ["carving_knife_77", "bar_egwapq_0"]],
            "manipulating_object_id": ["carving_knife_77", "carving_knife_77"],
            "memory_prefix": ["", "back"],
            "spatial_prefix": [],
            "frame_duration": [11206, 11710],
            "skill_idxes": [31, 32, 33, 34]
        },
        {
            "primitive_idx": 12,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["half_mushroom_82_0", "half_mushroom_82_1", "half_mushroom_81_0", "half_mushroom_81_1"], "chopping_board_78", "bowl_76"]],
            "manipulating_object_id": ["chopping_board_78"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [11710, 12699],
            "skill_idxes": [35, 36, 37]
        },
        {
            "primitive_idx": 13,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["right_door"]]],
            "frame_duration": [12699, 13746],
            "skill_idxes": [38, 39]
        },
        {
            "primitive_idx": 14,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["left_door"]]],
            "frame_duration": [13746, 15049],
            "skill_idxes": [40]
        },
        {
            "primitive_idx": 15,
            "primitive_id": [2],
            "primitive_description": ["pick up from"],
            "object_id": [["tupperware_73", "fridge_petcxr_0"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [[[], ["layer_3"]]],
            "frame_duration": [15049, 15957],
            "skill_idxes": [41]
        },
        {
            "primitive_idx": 16,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["fridge_petcxr_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [[["left_door"]]],
            "frame_duration": [15957, 16537],
            "skill_idxes": [42]
        },
        {
            "primitive_idx": 17,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["pepperoni_85", "pepperoni_86", "pepperoni_84", "pepperoni_83"], "tupperware_73", "bowl_76"]],
            "manipulating_object_id": ["tupperware_73"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [16537, 17372],
            "skill_idxes": [43, 44, 45]
        },
        {
            "primitive_idx": 18,
            "primitive_id": [28],
            "primitive_description": ["pour"],
            "object_id": [[["diced__vidalia_onion", "pepperoni_83", "pepperoni_84", "pepperoni_85", "pepperoni_86", "half_mushroom_82_1", "half_mushroom_82_0", "half_mushroom_81_1", "half_mushroom_81_0"], "bowl_76", "pizza_dough_87"]],
            "manipulating_object_id": ["bowl_76"],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [17372, 18262],
            "skill_idxes": [46, 47, 48, 49, 50]
        },
        {
            "primitive_idx": 19,
            "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": [18262, 19132],
            "skill_idxes": [51, 52, 53]
        },
        {
            "primitive_idx": 20,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [19132, 21010],
            "skill_idxes": [54, 55, 56]
        },
        {
            "primitive_idx": 21,
            "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": [21010, 22806],
            "skill_idxes": [57, 58, 59, 60]
        },
        {
            "primitive_idx": 22,
            "primitive_id": [12],
            "primitive_description": ["close door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [22806, 23256],
            "skill_idxes": [61]
        },
        {
            "primitive_idx": 23,
            "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": [23256, 23409],
            "skill_idxes": [62]
        },
        {
            "primitive_idx": 24,
            "primitive_id": [10],
            "primitive_description": ["open door"],
            "object_id": [["oven_ffitak_0"]],
            "manipulating_object_id": [],
            "memory_prefix": [],
            "spatial_prefix": [],
            "frame_duration": [23409, 24210],
            "skill_idxes": [63]
        }
    ]
}