{
  "coarse_description": "pick and place task",
  "skill_to_subtask_index": {
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    "pick up yellow_nut_bar": 5,
    "pick up_biscuit_pack": 6,
    "pick up cake": 1,
    "pick up_soda_can": 7,
    "pick_up_biscuit_pack": 4,
    "pick_up_yellow_nut_bar": 7,
    "pick_up_soda_can": 6,
    "move_arm_left": 0,
    "Assistant: pick_up_biscuit_pack": 0,
    "Assistant: pick_up_soda_can": 1,
    "pick up yellow nut bar": 3,
    "pick up biscuit pack": 0,
    "pick up soda can": 2,
    "pick up chocolate bar": 2
  },
  "episodes": {
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          "end": 5.0
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        {
          "name": "pick_up_cake",
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        {
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          "end": 18.0
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        {
          "name": "pick_up_soda_can",
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          "end": 25.0
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      "description": "pick and place task",
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          "end": 3.0
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        {
          "name": "pick up cake",
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          "end": 6.0
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        {
          "name": "pick up biscuit pack",
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          "end": 12.0
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        {
          "name": "pick up soda can",
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          "end": 26.8
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    "2": {
      "episode_index": 2,
      "description": "pick and place task",
      "skills": [
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          "name": "pick_up_biscuit_pack",
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          "end": 2.0
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        {
          "name": "pick_up_soda_can",
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          "end": 8.0
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        {
          "name": "pick_up_cake",
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          "end": 15.0
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        {
          "name": "pick_up_yellow_nut_bar",
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          "end": 22.63333333333334
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      "description": "pick and place task",
      "skills": [
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          "name": "pick_up_yellow_nut_bar",
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          "end": 5.0
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        {
          "name": "pick_up_cake",
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          "end": 12.0
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        {
          "name": "pick_up_biscuit_pack",
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          "end": 23.9
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      "episode_index": 4,
      "description": "pick and place task",
      "skills": [
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          "name": "pick_up_biscuit_pack",
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          "end": 4.0
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        {
          "name": "pick_up_soda_can",
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        {
          "name": "pick_up_cake",
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          "end": 15.0
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        {
          "name": "pick_up_yellow_nut_bar",
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          "end": 22.5
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      ]
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    "5": {
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      "description": "pick and place task",
      "skills": [
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          "name": "pick_up_soda_can",
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          "end": 2.0
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        {
          "name": "pick_up_cake",
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          "end": 4.0
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        {
          "name": "pick_up_biscuit_pack",
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          "end": 8.0
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        {
          "name": "pick_up_yellow_nut_bar",
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          "end": 21.8
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    "6": {
      "episode_index": 6,
      "description": "pick and place task",
      "skills": [
        {
          "name": "pick_up_yellow_nut_bar",
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          "end": 5.0
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        {
          "name": "pick_up_cake",
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          "end": 12.0
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        {
          "name": "pick_up_biscuit_pack",
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          "end": 18.0
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        {
          "name": "pick_up_soda_can",
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          "end": 26.3
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      "description": "pick and place task",
      "skills": [
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        {
          "name": "pick_up_cake",
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        {
          "name": "pick_up_biscuit_pack",
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        {
          "name": "pick_up_soda_can",
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          "end": 28.4
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      "description": "pick and place task",
      "skills": [
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          "name": "pick_up_yellow_nut_bar",
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          "end": 2.0
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        {
          "name": "pick_up_cake",
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        {
          "name": "pick_up_biscuit_pack",
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        {
          "name": "pick_up_soda_can",
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          "end": 22.3
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    "9": {
      "episode_index": 9,
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      "skills": [
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          "end": 4.0
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        {
          "name": "pick_up_cake",
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        {
          "name": "pick_up_biscuit_pack",
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        {
          "name": "pick_up_soda_can",
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          "end": 27.1
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}