{
    "task_name": "clean a trumpet",
    "data_folder": "",
    "meta_data": {
        "task_duration": 4805,
        "valid_duration": [
            0,
            4805
        ]
    },
    "skill_annotation": [
        {
            "skill_idx": 0,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "scrub_brush_86"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                961
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 1,
            "skill_id": [
                2
            ],
            "skill_description": [
                "pick up from"
            ],
            "object_id": [
                [
                    "scrub_brush_86",
                    "desk_aduafr_0"
                ]
            ],
            "manipulating_object_id": [
                "scrub_brush_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                961,
                1769
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 2,
            "skill_id": [
                5
            ],
            "skill_description": [
                "hand over"
            ],
            "object_id": [
                [
                    "scrub_brush_86",
                    "left",
                    "right"
                ]
            ],
            "manipulating_object_id": [
                "scrub_brush_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                1844,
                2371
            ],
            "mp_ef": [],
            "skill_type": [
                "coordinated"
            ]
        },
        {
            "skill_idx": 3,
            "skill_id": [
                1
            ],
            "skill_description": [
                "move to"
            ],
            "object_id": [
                [
                    "trumpet_87"
                ]
            ],
            "manipulating_object_id": [],
            "spatial_prefix": [],
            "frame_duration": [
                2424,
                2571
            ],
            "mp_ef": [],
            "skill_type": [
                "navigation"
            ]
        },
        {
            "skill_idx": 4,
            "skill_id": [
                46
            ],
            "skill_description": [
                "wipe hard"
            ],
            "object_id": [
                [
                    "scrub_brush_86",
                    "trumpet_87"
                ]
            ],
            "manipulating_object_id": [
                "scrub_brush_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                2571,
                4458
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        },
        {
            "skill_idx": 5,
            "skill_id": [
                3
            ],
            "skill_description": [
                "place on"
            ],
            "object_id": [
                [
                    "scrub_brush_86",
                    "desk_aduafr_0"
                ]
            ],
            "manipulating_object_id": [
                "scrub_brush_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                4495,
                4805
            ],
            "mp_ef": [],
            "skill_type": [
                "uncoordinated"
            ]
        }
    ],
    "primitive_annotation": [
        {
            "primitive_idx": 0,
            "primitive_id": [
                2,
                46,
                3
            ],
            "primitive_description": [
                "pick up from",
                "wipe hard",
                "place on"
            ],
            "object_id": [
                [
                    "scrub_brush_86",
                    "desk_aduafr_0"
                ],
                [
                    "scrub_brush_86",
                    "trumpet_87"
                ],
                [
                    "scrub_brush_86",
                    "desk_aduafr_0"
                ]
            ],
            "manipulating_object_id": [
                "scrub_brush_86",
                "scrub_brush_86",
                "scrub_brush_86"
            ],
            "spatial_prefix": [],
            "frame_duration": [
                0,
                4805
            ],
            "skill_idxes": [
                0,
                1,
                2,
                3,
                4,
                5
            ]
        }
    ]
}