{ "auto_map": { "AutoProcessor": "processing_eo1_internvl.EO1VisionProcessor" }, "processor_class": "EO1VisionProcessor", "robot_config": { "action_chunk_size": 30, "features": { "action": { "shape": [ 32 ], "type": "ACTION" } }, "max_action_dim": 32, "select_action_keys": { "AIRBOT_MMK2_bowl_storage_pepper": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_boxs_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_cake_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_clean_the_desktop_a": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_close_the_computer": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_cup_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_desktop_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_diamond_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_double-sided_tape_placement": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_egg_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_food_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_item_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_lemon_and_orange_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_medicine_bottle_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_mobile_calculator_box": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_mobile_car": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_mobile_phone_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_organize_and_place_books": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_organize_books": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_blue_and_purple_blocks": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_books": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_building_blocks": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_cake": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_network_cable_and_mouse_box": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_paper_drawer": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_umbrella_and_the_ruler": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_place_the_yellow_block": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_play_the_guitar": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_potato_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_pour_out_the_beauty_blender": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_pull_the_syringe_piston": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_pumpkin_storage": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_push_building_blocks": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_screw_the_bottle_cap": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_square_arrangement": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_stacking_blocks": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_computer_box": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_item": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_rubiks_cube_and_cup": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_spoon": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_tissue_and_milk_carton": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_tissue_paper": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_toy_cars_and_cookies": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_storage_wet_tissue_and_building_block": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_store_coffee_cups": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_store_peaches_and_pears": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_store_pomegranates_and_mangoes": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_store_wet_wipes_and_bowls": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_take_down_paper_cup": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_take_down_umbrella_and_mineral_water": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_take_the_book": [ "action", "eef_sim_pose_action" ], "AIRBOT_MMK2_toy_storage": [ "action", "eef_sim_pose_action" ], "Adjust_The_Air_Conditioner_Temperature_20250711_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "AgiBot-g1_battery_storage_b": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_b": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_c": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_cardboard_box_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_cardboard_box_b": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_cardboard_box_c": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_box_storage_e": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_left_capture_part": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_mobile_accessory_storage_box_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_mobile_accessory_storage_box_c": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_mobile_accessory_storage_box_e": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_mobile_accessory_storage_box_f": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_pick_up_battery": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_picks_up_battery_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_picks_up_battery_b": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_picks_up_cardboard_box": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_picks_up_parts_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_remove_the_accessory": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_right_capture_part": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_robotic_arm_picks_up_battery": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_robotic_arm_picks_up_parts": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_storage_item_b": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_storage_item_d": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_storage_item_e": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "AgiBot-g1_tool_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Arrange_Fruits_20250819_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Mineral_Water_Bottles_On_The_Desk_20250721_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Sofa_Cushions_20250708_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Sofa_Cushions_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Fruits_20250716_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Fruits_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Fruits_20250822_013": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Sofa_Cushions_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Tray_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Tray_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Tray_20250822_013": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Throw_Pillows_On_Living_Room_Sofa_20250624_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Toiletries_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Bedside_Console_With_Switch_Panel20250624_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Boil_The_Water_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Chair_Push_And_Place_20250709_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Chair_Push_And_Place_20250719_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Chair_Push_And_Place_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Check_Out_At_Self-checkout_Counter_20250607_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_Cutting_Board_20250627_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Chopping_Board_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Cutting_Board_20250711_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Cutting_Board_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Mirror_20250714_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Mirror_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sink_20250710_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sink_20250721_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sink_20250730_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sofa20250627_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Toilet20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_Toilet_20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clothes_Into_The_Basket_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cobot_Magic_box_storage_chopsticks": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_catch_the_ball": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_classification_of_fruits_and_vegetables": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_classification_of_tableware": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_clean_blackboard": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_clean_up_the_tableware": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_clear_the_desktop": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_close_book": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_close_button": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_cube_reset": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_fold_clothes": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_fold_the_towel": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_fold_towel_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_mobile_cube": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_mobile_cube_blackboard": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_beverage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_plate": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_the_ball": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_the_ball_interference": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_the_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_the_cup": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_the_plate": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_move_the_small_ball": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_movethe_position_of_the_bluetooth": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_place_square_pyramid": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_place_the_test_tube": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_plate_storage_apple": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_plate_storage_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_plate_storaje_baozi": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_pot_storage_steamer": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_pour_drink": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_pour_water_bottle": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_prepare_breakfast": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_pull_zipper": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_pushing_magnet": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_put_in_the_pear": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_put_the_building_block_on_the_table": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_steamer_storage_dumpling": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_storage_plate": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_take_out_a_pen_from_the_pen_holder": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_take_out_the_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_take_the_shoes_off_the_shelf": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_the_box_stores_table_tennis_balls": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_the_plate_holds_the_fruit": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_the_plate_holds_the_vegetables": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_turn_off_the_desk_lamp": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_turn_on_the_bulb": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_turn_on_the_desk_lamp": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_twist_bottle_cap": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Cobot_Magic_water_bottle_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Collect_Juice_20250621_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Connect_Router_Cables_20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cooking_Food_In_An_Air_Fryer_20250719_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cooking_Food_In_An_Air_Fryer_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cooking_and_Kitchen_Clean": [ "observation.state", "action" ], "Desktop_Garbage_Decluttering_20250712_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Desktop_Garbage_Organizing20250721_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Dispose_Of_Garbage_In_The_Trash_Can": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Dispose_Of_Leftover_Food_20250626_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Doll_Storage_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Dry_Clothes_In_A_Dryer_20250619_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Egg_Placement20250703_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Enter_Exit_Door_Turn_On_Off_lights_20250620_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Floor_cloth_wiping_stains_20250614_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Flowers_Are_Inserted_Into_Vases_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Fold_Clothes20250617_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Fold_Clothes_20250807_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Folding_Clothes_and_Zipper_Operations": [ "observation.state", "action" ], "From_Kitchen_To_Bedroom20250703_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "G1edu-u3_basket_storage_apple": [ "action", "eef_sim_pose_action" ], "G1edu-u3_plate_storage_doll": [ "action", "eef_sim_pose_action" ], "G1edu-u3_plate_storage_rabbit_doll": [ "action", "eef_sim_pose_action" ], "Handle_Plates_20250619_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Handle_The_Wooden_Barrel_Lid20250619_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_Clothes20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_The_Towel_On_The_Shelf_20250715_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_The_Towel_On_The_Shelf_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_The_Towel_On_The_Shelf_20250805_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Heat_Food_In_Microwave_Oven_20250703_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Heat_Food_In_The_Microwave_20250710_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Insert_Flowers_Into_A_Vase_20250711_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Iron_The_Clothes_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Layered_Shoe_Cabinet_For_Placing_Slippers_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Lift_The_Steamer_Lid20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Lift_up_the_carpet_and_wipe_the_floor_20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Locker_torage_And_Retrieval20250623_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Breakfast_20250626_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Breakfast_20250726_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Milk_Powder_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Milk_Powder_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Tea_20250624_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_The_Bed_20250616_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_The_Bed_20250708_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_The_Bed_20250730_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Milk_Powder_Preparation20250701_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Curtains_20250708_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Microwave_Oven_20250623_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Nightstand_Door_20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Nightstand_Drawer_20250624_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Curtain_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Curtain_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Door_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Nightstand_To_Place_Items_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Notebook20250628_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Refrigerator_Drawer_To_Place_Items_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Refrigerator_Drawer_To_Place_Items_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_Close_Lid_Stirring_20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_Or_Close_The_Cabinet_Door_To_Place_Items_20250719_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_Or_Close_The_Cabinet_Door_To_Place_Items_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_The_Bedroom_Door_To_Enter20250701_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_and_close_the_freezer_door_20250620": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Opening_Or_Closing_Refrigerator_Drawers_To_Store_And_Retrieve_Items20250624_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Clutter": [ "observation.state", "action" ], "Organize_Dried_Fruit_And_Meat_Shelves_20250702_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Mineral_Water_Bottles_0n_The_Table_20250709_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Potato_Chip_Shelves_20250701_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Refrigerated_Beverage_Case_20250704_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Refrigerated_shelf_20250703_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Refrigerator_Items0250703_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Beverage_Cooler_20250630_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Bread_Shelf_20250630_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Coat_Rack20250617_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Condiment_Shelf_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Potato_Chip_Shelf_20250630_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Seasoning_Shelf_20250620_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Seasoning_Shelf_20250717_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Signs20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Toiletries_20250719_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Wall-mounted_Coat_Rack_20250716_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Toys_20250628_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Toys_20250716_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_trays_20250621_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organizing_Desktop_Trash_20250630_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pack_Medicines_Into_Medicine_Box_20250707_005": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pen_Case_For_Storing_Stationery_20250717_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pen_Case_For_Storing_Stationery_20250719_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pen_Case_For_Storing_Stationery_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_And_Place_Items_On_The_Potato_Chip_Shelves_20250701_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Garbage_On_The_Ground_20250724_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Garbage_On_The_Ground_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Garbage_On_The_Ground_20250805_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Or_Put_Down_The_Clip20250619": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Trash_From_Ground_20250709_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Place_Slippers_In_The_Layered_Shoe_Cabinet_20250805_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Place_The_Dress_Shirt_On_The_Hanger20250619_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_And_Unplug_Switch_Lights_20250726_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_And_Unplug_Switch_Lights_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_Into_A_Fixed_Socket_20250710_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_Into_A_Fixed_Socket_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_The_Socket_20250616_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "PourWater_20250614": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Leftovers_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Out_The_Leftover_Food_20250714_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_The_Leftover_Food_20250724_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Water20250708_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Water_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Water_20250806_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pull_Out_The_Cap_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Push_And_Pull_The_Chair_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Push_In_Chairs_20250614_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pushing_Garbage_Trucks_To_Put_Garbage_Away20250707_005": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_A_Bag_In_The_Trash_Can20250617_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_The_Basket_20250709_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_The_Basket_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_The_Basket_20250813_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_Wardrobe_20250707_005": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Shoes_Into_The_Shoe_Box_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Slippers_Into_Floor_Standing_Shoe_Cabinet_20250620_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Flowers_In_The_Vase20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Glasses_In_The_Glasses_Case_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Glasses_In_The_Glasses_Case_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Items_Into_The_Storage_Box_20250929_002_007": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Landline_Phone_Back_In_Place_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pen_Into_The_Pen_Holder_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pen_Into_The_Pen_Holder_20250724_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pen_Into_The_Pen_Holder_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Phone_Back_In_place_20250716_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pillow_On_The_Bed20250617_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Shoes_Into_The_Shoe_Box_202507116_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Shoes_Into_The_Shoebox_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Trash_Bag_At_The_Door20250626_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_the_shoes_into_the_shoe_box_20250621_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "R1_Lite_boil_water_in_a_kettle": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_build_blocks": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_catch_the_water": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_clean_the_floor": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_clean_the_sink": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_clean_toilet": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_connect_the_router_cable": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_cover_the_pot_lid": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_dispose_of_leftover_food": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_fold_clothes": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_garbage_disposal": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_hang_clothes": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_make_a_landline_call": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_make_breakfast": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_make_tea": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_make_the_bed": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_apple": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_black_marker": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_brush": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_cookie": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_duck": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_glass": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_long_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_milk": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_orange": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_peeler": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_pen": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_rubiks_cube": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_spoon": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_move_the_position_of_the_triangle_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_open_and_close_curtains": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_open_and_close_nightstand_door": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_open_and_close_nightstand_drawer": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_open_and_close_the_freezer_door": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_open_the_food_pan": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_opening_and_closing_aalcony_sliding_doors": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_peach_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_place_the_dress_shirt_on_the_hanger": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_plug_the_socket": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_pour_water": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_put_on_a_garbage_bag": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_put_the_pillow_on_the_bed": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_put_the_shoes_into_the_shoe_box": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_put_the_tableware_into_the_cupboard": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_sliding_chair": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_stack_baskets": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_storage_of_toiletries": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_switch_labels": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_switch_on_and_off_the_central_air_conditioning": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_tableware_cleaning": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_take_and_place_the_portable_power_bank": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_take_and_put_away_garden_stuff": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_take_and_put_away_garden_stuff_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_take_and_put_away_items": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_take_and_put_the_bowl": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_take_or_store_plates": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_tea_service_table_setting": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_tidy_up_toiletries": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_wash_the_tableware": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_washing_board": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "R1_Lite_wipe_the_table": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_basket_storage_banana": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_basket_storage_egg_yolk_pastry": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_basket_storage_long_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_basket_storage_orange": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_basket_storage_peach": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_build_blocks": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_clean_table": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_desktop_organization": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_fold_shorts": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_fold_towel": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_food_packaging": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_food_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_fruit_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_get_water": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_glasses_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_place_test_tube": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_place_the_fruits_repeatedly": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_plate_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_pour_coffee_beans": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_pour_rice": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_pour_tea": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_stack_baskets": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "RMC-AIDA-L_stir_coffee": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "ReplaceFacialTissue_20250613_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_The_Toilet_Paper_Roll_20250712_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_The_Toilet_Paper_Roll_20250805_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_The_Toiletries_20250616_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_Toilet_Paper_20250623_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Retrieving_And_Placing_Items_Inside_The_TV_Cabinet_20250726_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Retrieving_And_Placing_Items_Inside_The_TV_Cabinet_20250805_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "ReturnClothesToBasket_20250613_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Ring_The_Landline20250627_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Serve_Soup_In_The_Rice_Pot_20250717_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Serve_Soup_With_A_Rice_Pot_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Shoes_Handling": [ "observation.state", "action" ], "Sliding_Bar_Stool_20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Sort_Out_Desktop_Garbage20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Split_aloha_basket_storage_banana": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_basket_storage_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_basket_storage_egg_yolk_pastry": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_basket_storage_long_bread": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_basket_storage_orange": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_basket_storage_peach": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_plate_storage": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_pour_rice": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_scoop_coffee_beans": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_wipe_table": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_wipe_the_table": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Split_aloha_zip_up_the_document_bag": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Steam_Rice_20250711_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Steam_Rice_20250721_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Steam_Rice_20250729_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Steam_Rice_20250730_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Stir-Fry_Dishes_20250726_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Stir-fry_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Stir-frying_20250627_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Tools_20250722_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Tools_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Tools_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Towels_20250715_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Towels_20250721_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_Dolls_20250812_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_Fruit_20250811_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_Tableware_20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_The_Dolls_20250719_008": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Fan_On_And_Off_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Fan_On_And_Off_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Rotating_Nightstand_And_Place_Items_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Sign_20250616_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_A_Drink_Out_Of_Fridge_And_Put_It_On_Table_20250712_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_And_Place_The_Portable_Power_Bank20250628_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_And_Put_Items_In_And_Out_Of_The_Microwave_Oven_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_Drinks_From_The_Refrigerator_And_Place_Them_On_The_Table_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_Out_The_Laundry_From_The_Washing_Machine20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_a_bowl_from_the_cabinet_20250620_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_and_place_tableware_20250620_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Taking_And_Placing_Shoes_In_The_Shoe_Cabinet20250624_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Tianqin_A2_box_storage_part": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Tianqin_A2_container_storage_graphics_card": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "Tidy_Up_Bathroom_Toiletries_20250623_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Toast_Bread_20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_0n_The_Food_Pot20250618_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_Central_Air_Conditioning_System_20250623_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_Central_Air_Conditioning_System_20250624_002_special": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_The_Air_Conditioner_20250802_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_The_Small_Fan_20250711_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Turn_Off_The_Air_Conditioner_20250724_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_Off_The_Light_20250619_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Twist_The_Bottle_Cap20250619_001": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Twist_The_Bottle_Cap_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Twist_The_Bottle_Cap_20250731_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Uncap_The_Pen_20250804_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Use_Of_Objects_20250704_003": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Use_The_Drawer_To_Store_The_Hair_Dryer20250625_002": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Washing_Machine_Washes_Clothes_20250728_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Water_Dispenser_Connected_To_Water20250707_005": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wearing_A_Strip_Rack_Hanging_Clothes_For_Retrieval_20250724_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Desktop_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Desktop_20250804_011": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250709_006": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250725_010": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250801_012": [ "action", "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "alpha_bot_2_carry_the_clothes_basket": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_item_reversal": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_move_the_table": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_operate_the_microwave_oven": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_pass_the_sandbag": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_press_the_button_a": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_recover_after_touching_an_obstacle": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_stack_building_blocks": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "alpha_bot_2_sticker": [ "gripper_open_scale_action", "action", "eef_sim_pose_action" ], "benchmark1_0_release.agilex_3rgb.10_packplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.10_packplate_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.11_brushcup": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.11_brushcup_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.12_packcup": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.13_packbowl": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.14_steamcorn": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.15_steamegg": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.15_steamegg_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.16_steampotato": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.16_steampotato_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.17_packtable": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.18_makebread": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.18_makebread_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.19_takebread": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.19_takebread_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.1_potatooven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.1_potatooven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.20_takecorn": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.20_takecorn_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.21_takeegg": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.22_takepotato": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.26_cleanplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.27_carrotgreenplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.28_packtable_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.29_steampumpkin": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.2_cornoven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.30_takepumpkin": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.31_unpackbowl": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.32_unpackcup": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.35_putcarrot": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.36_putpepper": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.37_putegg": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.38_putcorn": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.39_puttomato": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.3_eggplantOven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.3_eggplantoven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.40_putavocado": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.41_putplum": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.42_putkiwifruite": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.43_packplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.44_putbluebowlongreenplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.45_putgreenbowlonblueplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.46_putredbowlonwhiteplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.48_putpotatogreenplatefromsteam_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.4_potatobowloven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.50_pourtea": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.51_breadoven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.52_holdercup": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.53_stackcup": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.54_placecup": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.55_pumpkinbowloven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.56_placeplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.57_potatolittleoven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.58_pumpkinlittleoven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.59_steamedbreadlittleoven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.5_eggoven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.6_applebowloven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.6_applebowloven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.7_applegreenplate_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.8_appleblueplate_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.agilex_3rgb.9_appleyellowplate_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_0_release.franka_1rgb.bread_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_1rgb.bread_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241021_close_trash_bin_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241021_insert_marker_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241021_open_trash_bin_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241021_remove_marker_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241022_lamp_off_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241022_lamp_on_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241022_side_pull_close_drawer_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241022_side_pull_open_drawer_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241023_pick_pear_from_bowl_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241023_pick_pear_from_bowl_2": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241023_place_pear_in_bowl_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.241023_place_pear_in_bowl_2": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.blue_cub_on_pink": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.cap_close_dustbin": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_cap_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_cap_tool_box": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can_2": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.close_trash": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_cap_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_cap_tool_box": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can_2": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_the_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.open_trash": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_apple_into_chest": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_bread_desk": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_bread_into_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_drawer_tool": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_plate_from_plate_rack": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_up_strawberry_from_bowl": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pick_up_strawberry_in_bowl": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.piled_on_stack_blue_block_on_pink_block": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.piled_on_yellow_block_on_purple_block": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_block": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_block_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_block_in_plate_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_block_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_block_tennis_ball": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_basket_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_bread_machine": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_plate_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_plate_2": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table_2": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_cylinder": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_fruit": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_bread": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_in_fruit_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_pick_up_and_throw_away": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_pick_up_and_throw_away_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_purple_block_in_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_purple_block_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_rectangular_prism": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_shape": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_take_bread_and_put_in_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_toy": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_trash": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_in_yellow_block_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_plate_in_plate_rack": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.place_trash": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.pull_across_pull_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.push_across_push_away_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.rotate_close_cabinet": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.rotate_open_cabinet": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_close_cabinet": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer_1_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_open_cabinet": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_open_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.slide_open_drawer_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.stick_target_blue_on_the_pink_obejct": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.franka_3rgb.twist_knob_start_bread_machine": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.bread_in_basket_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.bread_in_basket_old": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.bread_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.close_top_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.close_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.close_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.cover_pot_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.green_pepper_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.green_pepper_in_basket_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.green_pepper_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.open_pot_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.open_top_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.open_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.open_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_banana": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_bread": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_bread_slice": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_donut": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_egg": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_green_onion": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_green_pepper": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_long_bread": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_mangosteen": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_paper_ball": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_pear": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_plastic_bottle": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_pot_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_red_pepper": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_round_bread": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_round_bread_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_square_bread": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_toast": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_triangle_bread": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.pick_up_yellow_pepper": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_banana_in_top_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_bread_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_bread_slice_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_bread_slice_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_can_in_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_donut_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_donut_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_egg_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_egg_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_green_onion_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_green_pepper_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_green_pepper_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_mangosteen_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_paper_ball_in_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_pear_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_plastic_bottle_in_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_pot_lid_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_red_pepper_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_red_pepper_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_square_bread_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_square_bread_in_trash_can": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_toast_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_toast_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_triangle_bread_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_triangle_bread_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_pot": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_top_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_top_white_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.red_pepper_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.red_pepper_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.triangle_bread_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.triangle_bread_in_basket_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.triangle_bread_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_in_basket": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_in_basket_1": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_on_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.agilex_3rgb.20_takecorn_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.28_packtable_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.33_putlemon": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.39_puttomato": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.3_eggplantoven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.40_putavocado": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.41_putplum": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.42_putkiwifruite": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.43_packplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.44_putbluebowlongreenplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.4_potatobowloven": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.5_eggoven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.6_applebowloven_2": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.7_applegreenplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.8_appleblueplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.agilex_3rgb.9_appleyellowplate": [ "observation.states.end_effector_right", "observation.states.end_effector_left", "action" ], "benchmark1_1_release.franka_3rgb.apples_placed_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.bananas_placed_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.bread_is_placed_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.chili_peppers_are_placed_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.chili_peppers_are_placed_on_the_right_side_of_a_plastic_tray": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.close_garbage_bin": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.close_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.cucumber_placed_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.flip_marco_cup": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.mobile_marco_cup": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.open_lid": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.place_marker": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.put_potatoes_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.put_the_bread_on_the_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.put_the_cucumber_on_the_left_side_of_the_bowl": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.put_the_red_apple_in_the_bowl": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.put_the_steamed_buns_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.red_apple_placed_in_the_center_of_the_desktop": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.side_opening_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.side_pull_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.strawberries_on_a_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.take_marker_pen": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.turn_off_lamp": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.turn_on_desk_lamp": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.yellow_bananas_placed_on_a_plastic_tray": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_3rgb.yellow_square_placed_on_ceramic_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_fr3_dual.both_pour_water": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_fr3_dual.left_place_gray_plate_from_low_rack_on_left_of_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_fr3_dual.left_place_gray_plate_on_lower_rack": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_fr3_dual.left_push_plate_to_right_of_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_fr3_dual.right_slide_close_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.franka_fr3_dual.right_slide_open_drawer": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.green_pepper_on_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.green_pepper_on_the_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1025": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1028": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1029": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1030": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1031": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1101": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1126": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_green_pepper_from_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_green_pepper_from_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_red_pepper_from_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_red_pepper_from_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_cucumber_from_the_basket_1125": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_cucumber_from_the_table_1125": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1025": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1028": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1029": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1030": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1031": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1101": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1126": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1025": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1028": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1029": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1030": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1031": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1101": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1126": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_green_vegetable_from_the_basket_1121": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_green_vegetable_from_the_table_1121": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mango_from_the_table_1104": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mango_from_the_table_1120": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mangoes_from_the_basket_1104": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mangoes_from_the_basket_1120": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_oranges_from_the_basket_1119": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_oranges_from_the_table_1119": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_sweet_potato_from_the_basket_1122": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_sweet_potato_from_the_table_1122": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_yellow_peppers_from_the_basket_1101": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_the_yellow_peppers_from_the_table_1101": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_plate_copy_1734079773826": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_table_copy_1734079574938": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pickupthebananafromtheplate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.pickupthebananafromthetable": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_cucumber_on_the_table_1125": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1025": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1028": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1029": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1030": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1031": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1101": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1126": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_green_vegetable_on_the_table_1121": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_mango_on_the_table_1104": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_mango_on_the_table_1120": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_oranges_on_the_table_1119": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.place_the_sweet_potato_on_the_table_1122": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.placebananaonaplate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_cucumber_in_the_basket_1125": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1105": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1106": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1107": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1111": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1112": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1113": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1114": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1118": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_green_vegetable_in_the_basket_1121": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_mango_in_the_basket_1104": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_mango_in_the_basket_1120": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_oranges_in_the_basket_1119": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.put_the_sweet_potato_in_the_basket_1122": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.putthebananaonthetable": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.red_pepper_in_table": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.red_pepper_on_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1104": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1105": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1106": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1107": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1108": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1111": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1112": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1113": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1114": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1118": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.yellow_pepper_on_plate": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_1_release.ur_1rgb.yellow_pepper_on_plate_copy_1734079761061": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "benchmark1_2_release.franka_3rgb.241223_upright_cup": [ "observation.states.joint_position", "action", "observation.states.end_effector" ], "droid_lerobot": [ "observation.state", "action" ], "leju_robot_box_storage_parcel": [ "action", "eef_sim_pose_action" ], "leju_robot_box_storage_parcel_a": [ "action", "eef_sim_pose_action" ], "leju_robot_box_storage_parcel_b": [ "action", "eef_sim_pose_action" ], "leju_robot_box_storage_parcel_d": [ "action", "eef_sim_pose_action" ], "leju_robot_box_storage_parcel_g": [ "action", "eef_sim_pose_action" ], "leju_robot_box_storage_parcel_h": [ "action", "eef_sim_pose_action" ], "leju_robot_box_storage_parcel_j": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_a": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_aa": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_ab": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_ac": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_ad": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_ae": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_af": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_ag": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_b": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_c": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_d": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_e": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_f": [ "action", "eef_sim_pose_action" ], "leju_robot_hotel_services_i": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_a": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_b": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_c": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_f": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_g": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_h": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_k": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_n": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_q": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_r": [ "action", "eef_sim_pose_action" ], "leju_robot_moving_parts_u": [ "action", "eef_sim_pose_action" ], "leju_robot_part_placement": [ "action", "eef_sim_pose_action" ], "leju_robot_pass_the_cleaner_a": [ "action", "eef_sim_pose_action" ], "leju_robot_pass_the_cleaner_b": [ "action", "eef_sim_pose_action" ], "leju_robot_pass_the_cleaner_c": [ "action", "eef_sim_pose_action" ], "leju_robot_pass_the_cleaner_d": [ "action", "eef_sim_pose_action" ], "leju_robot_pass_the_cleaner_e": [ "action", "eef_sim_pose_action" ], "real.genie1.Pick_a_bag_of_bread_with_the_left_arm__then_handover.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.Pick_up_the_flower_and_insert_it_into_the_vase.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.Pickup_a_bag_of_potato_chips_and_put_it_in_the_shopping_cart.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.Pickup_a_bottle_of_black_tea_and_place_it_into_the_shopping_cart.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.Pickup_a_bottle_of_black_tea_into_the_basket.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.Put_the_pen_from_the_table_into_the_pen_holder.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.pick_a_bottle_of_black_tea_and_hand_over_to_the_person.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.pickup_a_bag_of_bread_into_the_basket.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "real.genie1.pickup_a_bag_of_chip_to_the_basket.set_0": [ "observation.states.waist.position", "action", "observation.states.effector.position", "observation.states.head.position", "observation.states.robot.position", "observation.states.joint.position", "observation.states.robot.orientation" ], "sim.articulation_tasks.franka.close_the_electriccooker": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_laptop": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_microwave_part1": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_microwave_part2": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_pot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_trashcan": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_washingmachine_left": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_washingmachine_right": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.heat_the_food_in_the_microwave": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_laptop": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_microwave_part1": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_microwave_part2": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_pot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_trashcan": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.articulation_tasks.lift2.close_the_microwave_left_arm_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.close_the_microwave_left_arm_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.close_the_microwave_right_arm_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.close_the_microwave_right_arm_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.close_the_package": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.heat_the_food_in_the_microwave": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_left_arm_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_left_arm_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_right_arm_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_right_arm_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_left_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_left_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_right_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_left_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_left_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_right_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_right_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.close_the_microwave_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.close_the_microwave_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.open_the_microwave_from_scratch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.open_the_microwave_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.open_the_microwave_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_bottom": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_middle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_left_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_left_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_right_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_right_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_left_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_left_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_right_arm_clockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_right_arm_counterclockwise": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.franka.collect_the_shoes": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_colorful_cups": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_alarm_clocks": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_brushes": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_glues": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_teaboxes": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.pick_the_priced_item": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.select_a_drink": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.sort_the_table_waste": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.franka.track_the_targets": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.basic_tasks.genie1.store_the_eggs_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.genie1.store_the_eggs_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_left_arm_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_left_arm_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_right_arm_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_right_arm_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.arrange_the_tableware": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.collect_the_shoes": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.flip_the_package_on_conveyor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.fold_long_shirts": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.fold_short_pants": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.fold_short_shirts": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.fold_towels": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.hang_the_cup_on_rack_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.hang_the_cup_on_rack_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.insert_the_flower_in_vase_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.insert_the_flower_in_vase_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.insert_the_markpen_in_penholder_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.insert_the_markpen_in_penholder_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.organize_colorful_cups": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.organize_the_alarm_clocks": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.organize_the_brushes": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pick_beef_sandwich_on_conveyor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pick_ham_sandwich_on_conveyor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pick_the_package_on_conveyor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pick_the_priced_item": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pour_Baijiu_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pour_Baijiu_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pour_redwine_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pour_redwine_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pour_water_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.pour_water_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.recovery_pick_objects_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.recovery_pick_objects_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.select_a_drink": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.sort_the_table_waste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.sort_the_tray_on_rack": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.stack_the_boxes_left_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.stack_the_boxes_right_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.store_the_toothbrushes_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.store_the_toothbrushes_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.track_the_targets": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.watering_plants_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.lift2.watering_plants_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.collect_the_shoes": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.hang_the_cup_on_rack_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.hang_the_cup_on_rack_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_flower_in_vase_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_flower_in_vase_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_markpen_in_penholder_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_markpen_in_penholder_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.organize_colorful_cups": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.organize_the_alarm_clocks": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.organize_the_brushes": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pick_beef_sandwich_on_conveyor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pick_ham_sandwich_on_conveyor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pick_the_priced_item": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pour_Baijiu_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pour_Baijiu_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pour_redwine_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pour_redwine_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pour_water_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.pour_water_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.select_a_drink": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.sort_the_table_waste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.sort_the_tray_on_rack": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.stack_the_boxes_left_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.stack_the_boxes_right_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.track_the_targets": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.watering_plants_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.basic_tasks.split_aloha.watering_plants_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.franka.put_the_trash_in_trashcan_part1": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.long_horizon_tasks.franka.put_the_trash_in_trashcan_part2": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.long_horizon_tasks.franka.sort_the_trash": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.long_horizon_tasks.franka.sweep_the_trash": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_brown_cloth_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_brown_cloth_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_sponge_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_sponge_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_white_cloth_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_white_cloth_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part1.Task2_v3": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part3": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_ham_sandwich_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_ham_sandwich_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.collect_the_glues": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.gather_the_teaboxes": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.microwave_oven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.microwaveoven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_1l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_2l1r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_2l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_1l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_2l1r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_2l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_a_beef_sandwich_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_a_beef_sandwich_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.bowl_left_right_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.bowl_right_left_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.left_right_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.right_left_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part3": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part4": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.lift2.sweep_the_trash": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_brown_cloth_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_brown_cloth_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_sponge_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_sponge_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_white_cloth_left_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_white_cloth_right_arm": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.collect_the_glues": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.gather_the_teaboxes": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_1l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_2l1r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_2l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_2_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_2_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_3_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_3_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_1l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_2l1r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_2l2r": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_a_beef_sandwich": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.bowl_left_right_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.bowl_right_left_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.left_right_left": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.right_left_right": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sweep_the_trash.sweep_1_trash": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sweep_the_trash.sweep_2_trash": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.franka.continues_pick_and_place_part1": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.continues_pick_and_place_part2": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.basket": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.basket_top": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.bowl": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.box": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.dish": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.drawing": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.flower_pot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.microwaveoven": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.pad": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.pan": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.projector": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.basket_top": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.bowl": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.box": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.dish": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.drawing": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.flower_pot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.microwaveoven": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.pad": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.pan": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.projector": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-book": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-box": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-handbag": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-hat": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-asparagus": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-ball": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bamboo_shoots": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-banana": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-battery": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-belt": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bottle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bowl": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-box": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-boxed_beverage": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bread": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-brush": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cake": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-calculator": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-candle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-carrot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chess": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chicken_leg": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chili": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chinese_chess": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-clock": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-conch": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-corn": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cucumber": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cup": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dinosaur": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dish": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-donut": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dumpling": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-egg": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-egg_tart": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-eraser": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-facial_cream": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-flash_light": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-garage_kit": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-garlic": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-glasses": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-glasses_case": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hair_dryer": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hamburger": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hammer": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hand_cream": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hot_dog": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-knife": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lemon": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lipstick": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lotus_root": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mango": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mangosteen": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-medicine_bottle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mooncake": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mouse": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mug": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-onion": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-orange": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pastry": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-peach": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pear": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pen": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pineapple": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pitaya": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pomegranate": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-power_strip": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-razor": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-red_wine_glass": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-remote_control": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-rubik_cube": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-sausage": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-scissor": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shampoo": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shoe": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shrimp": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-soap": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-spanner": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-starfish": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-sweet_potato": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-table_tennis_bat": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tape_measure": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-teapot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-timer": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tissue": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tomato": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tooth_brush": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tooth_paste": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_animals": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_boat": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_bus": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_car": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_motorcycle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_plane": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_plant": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_train": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_truck": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-umbrella": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-waffle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-watch": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-whistle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-can": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-red_wine_glass": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-spoon": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.real-camera": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-book": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-box": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-handbag": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-hat": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-asparagus": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-ball": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bamboo_shoots": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-banana": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-battery": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-belt": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bottle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bowl": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-box": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-boxed_beverage": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bread": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-brush": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cake": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-calculator": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-candle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-carrot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chess": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chicken_leg": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chili": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chinese_chess": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-clock": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-conch": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-corn": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cucumber": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cup": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dinosaur": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dish": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-donut": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dumpling": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-egg": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-egg_tart": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-eraser": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-facial_cream": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-flash_light": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-garage_kit": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-garlic": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-glasses": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-glasses_case": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hair_dryer": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hamburger": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hammer": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hand_cream": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hot_dog": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-knife": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lemon": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lipstick": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lotus_root": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mango": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mangosteen": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-medicine_bottle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mooncake": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mouse": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mug": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-onion": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-orange": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pastry": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-peach": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pear": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pen": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pineapple": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pitaya": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pomegranate": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-power_strip": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-razor": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-red_wine_glass": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-remote_control": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-rubik_cube": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-sausage": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-scissor": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shampoo": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shoe": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shrimp": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-soap": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-spanner": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-starfish": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-sweet_potato": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-table_tennis_bat": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tape_measure": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-teapot": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-timer": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tissue": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tomato": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tooth_brush": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tooth_paste": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_animals": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_boat": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_bus": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_car": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_motorcycle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_plane": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_plant": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_train": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_truck": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-umbrella": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-waffle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-watch": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-whistle": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-can": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-red_wine_glass": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-spoon": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.real-camera": [ "states.gripper.position", "states.joint.position", "action", "states.gripper.pose" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.kettle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.kettle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.microwaveoven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.microwaveoven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.microwaveoven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_bus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.continues_pick_and_place_part1": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.continues_pick_and_place_part2": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.microwaveoven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.projector": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.basket_top": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.drawing": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.microwaveoven": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.pad": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.projector": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.basket": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.flower_pot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.pan": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pitaya": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-book": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-handbag": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-hat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-asparagus": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-ball": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bamboo_shoots": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-banana": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-battery": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-belt": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bowl": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-box": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-boxed_beverage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bread": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-calculator": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-candle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-carrot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chicken_leg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chili": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chinese_chess": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-clock": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-conch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-corn": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cucumber": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cup": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dinosaur": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-donut": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dumpling": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-egg": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-egg_tart": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-eraser": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-facial_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-flash_light": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-garage_kit": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-garlic": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-glasses": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-glasses_case": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hair_dryer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hamburger": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hammer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hand_cream": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hot_dog": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-knife": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lemon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lipstick": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lotus_root": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mango": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mangosteen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-medicine_bottle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mooncake": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mouse": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mug": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-onion": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-orange": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pastry": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-peach": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pear": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pen": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pineapple": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pomegranate": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-power_strip": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-razor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-remote_control": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-rubik_cube": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-sausage": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-scissor": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shampoo": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shoe": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shrimp": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-soap": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-spanner": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-starfish": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-sweet_potato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-table_tennis_bat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tape_measure": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-teapot": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-timer": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tissue": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tomato": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tooth_brush": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tooth_paste": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_animals": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_boat": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_car": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_motorcycle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_plane": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_plant": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_train": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_truck": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-umbrella": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-waffle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-watch": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-whistle": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-can": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-red_wine_glass": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-spoon": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.real-camera": [ "states.right_gripper.position", "states.left_joint.position", "states.right_joint.position", "action", "states.left_gripper.position" ], "task_327": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_351": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_352": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_354": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_356": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_357": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_358": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_359": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_360": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_361": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_362": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_363": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_365": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_366": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_367": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_368": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_369": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_372": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_373": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_374": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_375": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_376": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_377": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_378": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_384": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_385": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_388": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_389": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_390": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_398": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_410": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_414": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_421": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_422": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_424": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_425": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_428": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_429": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_431": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_433": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_434": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_438": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_440": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_444": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_445": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_446": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_451": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_452": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_453": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_454": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_455": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_460": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_462": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_463": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_464": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_465": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_466": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_468": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_470": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_471": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_474": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_477": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_478": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_480": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_483": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_485": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_486": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_487": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_491": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_492": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_494": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_497": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_498": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_501": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_503": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_504": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_505": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_506": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_507": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_508": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_509": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_510": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_511": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_512": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_515": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_520": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_521": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_522": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_524": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_525": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_527": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_528": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_529": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_532": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_533": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_534": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_535": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_537": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_540": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_541": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_542": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_543": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_544": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_545": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_550": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_551": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_555": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_556": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_558": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_561": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_563": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_566": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_567": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_568": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_570": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_573": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_574": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_575": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_580": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_582": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_584": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_587": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_588": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_589": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_590": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_593": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_596": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_597": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_598": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_599": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_600": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_602": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_603": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_604": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_607": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_609": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_613": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_616": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_619": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_621": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_658": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_664": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_681": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_682": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_683": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_688": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_689": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_692": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_695": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_698": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_707": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_708": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_709": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_711": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_712": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_714": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_715": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_716": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_717": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_719": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_722": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_725": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_726": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_729": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_732": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_734": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_735": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_739": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_740": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_741": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_744": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_748": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_751": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_761": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_762": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_764": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_765": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_773": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_779": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_781": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_782": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_783": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_785": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_786": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "task_787": [ "observation.states.effector.position", "observation.states.end.orientation", "observation.states.end.position", "action" ], "xvla-soft-fold": [ "observation.state", "action" ] }, "select_state_keys": { "AIRBOT_MMK2_bowl_storage_pepper": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_boxs_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_cake_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_clean_the_desktop_a": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_close_the_computer": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_cup_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_desktop_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_diamond_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_double-sided_tape_placement": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_egg_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_food_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_item_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_lemon_and_orange_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_medicine_bottle_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_mobile_calculator_box": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_mobile_car": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_mobile_phone_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_organize_and_place_books": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_organize_books": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_blue_and_purple_blocks": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_books": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_building_blocks": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_cake": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_network_cable_and_mouse_box": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_paper_drawer": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_umbrella_and_the_ruler": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_place_the_yellow_block": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_play_the_guitar": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_potato_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_pour_out_the_beauty_blender": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_pull_the_syringe_piston": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_pumpkin_storage": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_push_building_blocks": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_screw_the_bottle_cap": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_square_arrangement": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_stacking_blocks": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_computer_box": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_item": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_rubiks_cube_and_cup": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_spoon": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_tissue_and_milk_carton": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_tissue_paper": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_toy_cars_and_cookies": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_storage_wet_tissue_and_building_block": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_store_coffee_cups": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_store_peaches_and_pears": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_store_pomegranates_and_mangoes": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_store_wet_wipes_and_bowls": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_take_down_paper_cup": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_take_down_umbrella_and_mineral_water": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_take_the_book": [ "eef_sim_pose_state", "action" ], "AIRBOT_MMK2_toy_storage": [ "eef_sim_pose_state", "action" ], "Adjust_The_Air_Conditioner_Temperature_20250711_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "AgiBot-g1_battery_storage_b": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_b": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_c": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_cardboard_box_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_cardboard_box_b": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_cardboard_box_c": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_box_storage_e": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_left_capture_part": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_mobile_accessory_storage_box_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_mobile_accessory_storage_box_c": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_mobile_accessory_storage_box_e": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_mobile_accessory_storage_box_f": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_pick_up_battery": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_picks_up_battery_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_picks_up_battery_b": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_picks_up_cardboard_box": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_picks_up_parts_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_remove_the_accessory": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_right_capture_part": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_robotic_arm_picks_up_battery": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_robotic_arm_picks_up_parts": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_storage_item_b": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_storage_item_d": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_storage_item_e": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "AgiBot-g1_tool_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Arrange_Fruits_20250819_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Mineral_Water_Bottles_On_The_Desk_20250721_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Sofa_Cushions_20250708_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Sofa_Cushions_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Fruits_20250716_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Fruits_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Fruits_20250822_013": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Sofa_Cushions_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Tray_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Tray_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_The_Tray_20250822_013": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Throw_Pillows_On_Living_Room_Sofa_20250624_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Arrange_Toiletries_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Bedside_Console_With_Switch_Panel20250624_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Boil_The_Water_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Chair_Push_And_Place_20250709_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Chair_Push_And_Place_20250719_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Chair_Push_And_Place_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Check_Out_At_Self-checkout_Counter_20250607_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_Cutting_Board_20250627_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Chopping_Board_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Cutting_Board_20250711_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Cutting_Board_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Mirror_20250714_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Mirror_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sink_20250710_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sink_20250721_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sink_20250730_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Sofa20250627_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_The_Toilet20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clean_Toilet_20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Clothes_Into_The_Basket_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cobot_Magic_box_storage_chopsticks": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_catch_the_ball": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_classification_of_fruits_and_vegetables": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_classification_of_tableware": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_clean_blackboard": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_clean_up_the_tableware": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_clear_the_desktop": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_close_book": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_close_button": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_cube_reset": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_fold_clothes": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_fold_the_towel": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_fold_towel_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_mobile_cube": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_mobile_cube_blackboard": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_beverage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_plate": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_the_ball": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_the_ball_interference": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_the_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_the_cup": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_the_plate": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_move_the_small_ball": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_movethe_position_of_the_bluetooth": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_place_square_pyramid": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_place_the_test_tube": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_plate_storage_apple": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_plate_storage_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_plate_storaje_baozi": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_pot_storage_steamer": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_pour_drink": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_pour_water_bottle": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_prepare_breakfast": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_pull_zipper": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_pushing_magnet": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_put_in_the_pear": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_put_the_building_block_on_the_table": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_steamer_storage_dumpling": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_storage_plate": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_take_out_a_pen_from_the_pen_holder": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_take_out_the_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_take_the_shoes_off_the_shelf": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_the_box_stores_table_tennis_balls": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_the_plate_holds_the_fruit": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_the_plate_holds_the_vegetables": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_turn_off_the_desk_lamp": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_turn_on_the_bulb": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_turn_on_the_desk_lamp": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_twist_bottle_cap": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Cobot_Magic_water_bottle_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Collect_Juice_20250621_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Connect_Router_Cables_20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cooking_Food_In_An_Air_Fryer_20250719_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cooking_Food_In_An_Air_Fryer_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Cooking_and_Kitchen_Clean": [ "observation.state" ], "Desktop_Garbage_Decluttering_20250712_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Desktop_Garbage_Organizing20250721_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Dispose_Of_Garbage_In_The_Trash_Can": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Dispose_Of_Leftover_Food_20250626_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Doll_Storage_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Dry_Clothes_In_A_Dryer_20250619_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Egg_Placement20250703_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Enter_Exit_Door_Turn_On_Off_lights_20250620_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Floor_cloth_wiping_stains_20250614_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Flowers_Are_Inserted_Into_Vases_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Fold_Clothes20250617_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Fold_Clothes_20250807_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Folding_Clothes_and_Zipper_Operations": [ "observation.state" ], "From_Kitchen_To_Bedroom20250703_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "G1edu-u3_basket_storage_apple": [ "eef_sim_pose_state", "action" ], "G1edu-u3_plate_storage_doll": [ "eef_sim_pose_state", "action" ], "G1edu-u3_plate_storage_rabbit_doll": [ "eef_sim_pose_state", "action" ], "Handle_Plates_20250619_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Handle_The_Wooden_Barrel_Lid20250619_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_Clothes20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_The_Towel_On_The_Shelf_20250715_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_The_Towel_On_The_Shelf_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Hang_The_Towel_On_The_Shelf_20250805_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Heat_Food_In_Microwave_Oven_20250703_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Heat_Food_In_The_Microwave_20250710_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Insert_Flowers_Into_A_Vase_20250711_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Iron_The_Clothes_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Layered_Shoe_Cabinet_For_Placing_Slippers_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Lift_The_Steamer_Lid20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Lift_up_the_carpet_and_wipe_the_floor_20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Locker_torage_And_Retrieval20250623_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Breakfast_20250626_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Breakfast_20250726_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Milk_Powder_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Milk_Powder_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_Tea_20250624_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_The_Bed_20250616_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_The_Bed_20250708_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Make_The_Bed_20250730_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Milk_Powder_Preparation20250701_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Curtains_20250708_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Microwave_Oven_20250623_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Nightstand_Door_20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_Nightstand_Drawer_20250624_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Curtain_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Curtain_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Door_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Nightstand_To_Place_Items_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Notebook20250628_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Refrigerator_Drawer_To_Place_Items_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_And_Close_The_Refrigerator_Drawer_To_Place_Items_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_Close_Lid_Stirring_20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_Or_Close_The_Cabinet_Door_To_Place_Items_20250719_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_Or_Close_The_Cabinet_Door_To_Place_Items_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_The_Bedroom_Door_To_Enter20250701_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Open_and_close_the_freezer_door_20250620": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Opening_Or_Closing_Refrigerator_Drawers_To_Store_And_Retrieve_Items20250624_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Clutter": [ "observation.state" ], "Organize_Dried_Fruit_And_Meat_Shelves_20250702_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Mineral_Water_Bottles_0n_The_Table_20250709_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Potato_Chip_Shelves_20250701_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Refrigerated_Beverage_Case_20250704_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Refrigerated_shelf_20250703_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Refrigerator_Items0250703_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Beverage_Cooler_20250630_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Bread_Shelf_20250630_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Coat_Rack20250617_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Condiment_Shelf_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Potato_Chip_Shelf_20250630_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Seasoning_Shelf_20250620_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Seasoning_Shelf_20250717_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Signs20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Toiletries_20250719_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_The_Wall-mounted_Coat_Rack_20250716_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Toys_20250628_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_Toys_20250716_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organize_trays_20250621_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Organizing_Desktop_Trash_20250630_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pack_Medicines_Into_Medicine_Box_20250707_005": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pen_Case_For_Storing_Stationery_20250717_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pen_Case_For_Storing_Stationery_20250719_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pen_Case_For_Storing_Stationery_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_And_Place_Items_On_The_Potato_Chip_Shelves_20250701_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Garbage_On_The_Ground_20250724_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Garbage_On_The_Ground_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Garbage_On_The_Ground_20250805_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Or_Put_Down_The_Clip20250619": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pick_Up_Trash_From_Ground_20250709_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Place_Slippers_In_The_Layered_Shoe_Cabinet_20250805_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Place_The_Dress_Shirt_On_The_Hanger20250619_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_And_Unplug_Switch_Lights_20250726_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_And_Unplug_Switch_Lights_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_Into_A_Fixed_Socket_20250710_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_Into_A_Fixed_Socket_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Plug_The_Socket_20250616_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "PourWater_20250614": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Leftovers_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Out_The_Leftover_Food_20250714_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_The_Leftover_Food_20250724_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Water20250708_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Water_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pour_Water_20250806_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pull_Out_The_Cap_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Push_And_Pull_The_Chair_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Push_In_Chairs_20250614_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Pushing_Garbage_Trucks_To_Put_Garbage_Away20250707_005": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_A_Bag_In_The_Trash_Can20250617_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_The_Basket_20250709_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_The_Basket_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_The_Basket_20250813_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Clothes_Into_Wardrobe_20250707_005": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Shoes_Into_The_Shoe_Box_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_Slippers_Into_Floor_Standing_Shoe_Cabinet_20250620_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Flowers_In_The_Vase20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Glasses_In_The_Glasses_Case_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Glasses_In_The_Glasses_Case_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Items_Into_The_Storage_Box_20250929_002_007": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Landline_Phone_Back_In_Place_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pen_Into_The_Pen_Holder_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pen_Into_The_Pen_Holder_20250724_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pen_Into_The_Pen_Holder_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Phone_Back_In_place_20250716_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Pillow_On_The_Bed20250617_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Shoes_Into_The_Shoe_Box_202507116_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Shoes_Into_The_Shoebox_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_The_Trash_Bag_At_The_Door20250626_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Put_the_shoes_into_the_shoe_box_20250621_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "R1_Lite_boil_water_in_a_kettle": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_build_blocks": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_catch_the_water": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_clean_the_floor": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_clean_the_sink": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_clean_toilet": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_connect_the_router_cable": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_cover_the_pot_lid": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_dispose_of_leftover_food": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_fold_clothes": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_garbage_disposal": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_hang_clothes": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_make_a_landline_call": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_make_breakfast": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_make_tea": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_make_the_bed": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_apple": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_black_marker": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_brush": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_cookie": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_duck": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_glass": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_long_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_milk": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_orange": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_peeler": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_pen": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_rubiks_cube": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_spoon": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_move_the_position_of_the_triangle_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_open_and_close_curtains": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_open_and_close_nightstand_door": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_open_and_close_nightstand_drawer": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_open_and_close_the_freezer_door": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_open_the_food_pan": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_opening_and_closing_aalcony_sliding_doors": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_peach_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_place_the_dress_shirt_on_the_hanger": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_plug_the_socket": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_pour_water": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_put_on_a_garbage_bag": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_put_the_pillow_on_the_bed": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_put_the_shoes_into_the_shoe_box": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_put_the_tableware_into_the_cupboard": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_sliding_chair": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_stack_baskets": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_storage_of_toiletries": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_switch_labels": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_switch_on_and_off_the_central_air_conditioning": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_tableware_cleaning": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_take_and_place_the_portable_power_bank": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_take_and_put_away_garden_stuff": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_take_and_put_away_garden_stuff_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_take_and_put_away_items": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_take_and_put_the_bowl": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_take_or_store_plates": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_tea_service_table_setting": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_tidy_up_toiletries": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_wash_the_tableware": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_washing_board": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "R1_Lite_wipe_the_table": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_basket_storage_banana": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_basket_storage_egg_yolk_pastry": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_basket_storage_long_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_basket_storage_orange": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_basket_storage_peach": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_build_blocks": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_clean_table": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_desktop_organization": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_fold_shorts": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_fold_towel": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_food_packaging": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_food_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_fruit_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_get_water": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_glasses_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_place_test_tube": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_place_the_fruits_repeatedly": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_plate_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_pour_coffee_beans": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_pour_rice": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_pour_tea": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_stack_baskets": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "RMC-AIDA-L_stir_coffee": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "ReplaceFacialTissue_20250613_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_The_Toilet_Paper_Roll_20250712_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_The_Toilet_Paper_Roll_20250805_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_The_Toiletries_20250616_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Replace_Toilet_Paper_20250623_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Retrieving_And_Placing_Items_Inside_The_TV_Cabinet_20250726_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Retrieving_And_Placing_Items_Inside_The_TV_Cabinet_20250805_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "ReturnClothesToBasket_20250613_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Ring_The_Landline20250627_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Serve_Soup_In_The_Rice_Pot_20250717_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Serve_Soup_With_A_Rice_Pot_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Shoes_Handling": [ "observation.state" ], "Sliding_Bar_Stool_20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Sort_Out_Desktop_Garbage20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Split_aloha_basket_storage_banana": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_basket_storage_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_basket_storage_egg_yolk_pastry": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_basket_storage_long_bread": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_basket_storage_orange": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_basket_storage_peach": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_plate_storage": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_pour_rice": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_scoop_coffee_beans": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_wipe_table": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_wipe_the_table": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Split_aloha_zip_up_the_document_bag": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Steam_Rice_20250711_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Steam_Rice_20250721_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Steam_Rice_20250729_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Steam_Rice_20250730_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Stir-Fry_Dishes_20250726_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Stir-fry_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Stir-frying_20250627_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Tools_20250722_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Tools_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Tools_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Towels_20250715_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Storage_Towels_20250721_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_Dolls_20250812_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_Fruit_20250811_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_Tableware_20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Store_The_Dolls_20250719_008": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Fan_On_And_Off_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Fan_On_And_Off_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Rotating_Nightstand_And_Place_Items_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Switch_The_Sign_20250616_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_A_Drink_Out_Of_Fridge_And_Put_It_On_Table_20250712_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_And_Place_The_Portable_Power_Bank20250628_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_And_Put_Items_In_And_Out_Of_The_Microwave_Oven_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_Drinks_From_The_Refrigerator_And_Place_Them_On_The_Table_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_Out_The_Laundry_From_The_Washing_Machine20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_a_bowl_from_the_cabinet_20250620_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Take_and_place_tableware_20250620_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Taking_And_Placing_Shoes_In_The_Shoe_Cabinet20250624_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Tianqin_A2_box_storage_part": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Tianqin_A2_container_storage_graphics_card": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "Tidy_Up_Bathroom_Toiletries_20250623_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Toast_Bread_20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_0n_The_Food_Pot20250618_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_Central_Air_Conditioning_System_20250623_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_Central_Air_Conditioning_System_20250624_002_special": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_The_Air_Conditioner_20250802_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Off_The_Small_Fan_20250711_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_And_Turn_Off_The_Air_Conditioner_20250724_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Turn_On_Off_The_Light_20250619_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Twist_The_Bottle_Cap20250619_001": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Twist_The_Bottle_Cap_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Twist_The_Bottle_Cap_20250731_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Uncap_The_Pen_20250804_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Use_Of_Objects_20250704_003": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Use_The_Drawer_To_Store_The_Hair_Dryer20250625_002": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Washing_Machine_Washes_Clothes_20250728_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Water_Dispenser_Connected_To_Water20250707_005": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wearing_A_Strip_Rack_Hanging_Clothes_For_Retrieval_20250724_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Desktop_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Desktop_20250804_011": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250709_006": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250725_010": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250801_012": [ "observation.state.left_ee_pose", "observation.state.right_ee_pose", "observation.state.left_gripper", "observation.state.right_gripper" ], "alpha_bot_2_carry_the_clothes_basket": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_item_reversal": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_move_the_table": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_operate_the_microwave_oven": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_pass_the_sandbag": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_press_the_button_a": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_recover_after_touching_an_obstacle": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_stack_building_blocks": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "alpha_bot_2_sticker": [ "eef_sim_pose_state", "gripper_open_scale_state" ], "benchmark1_0_release.agilex_3rgb.10_packplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.10_packplate_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.11_brushcup": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.11_brushcup_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.12_packcup": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.13_packbowl": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.14_steamcorn": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.15_steamegg": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.15_steamegg_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.16_steampotato": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.16_steampotato_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.17_packtable": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.18_makebread": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.18_makebread_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.19_takebread": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.19_takebread_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.1_potatooven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.1_potatooven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.20_takecorn": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.20_takecorn_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.21_takeegg": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.22_takepotato": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.26_cleanplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.27_carrotgreenplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.28_packtable_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.29_steampumpkin": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.2_cornoven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.30_takepumpkin": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.31_unpackbowl": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.32_unpackcup": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.35_putcarrot": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.36_putpepper": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.37_putegg": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.38_putcorn": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.39_puttomato": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.3_eggplantOven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.3_eggplantoven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.40_putavocado": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.41_putplum": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.42_putkiwifruite": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.43_packplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.44_putbluebowlongreenplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.45_putgreenbowlonblueplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.46_putredbowlonwhiteplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.48_putpotatogreenplatefromsteam_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.4_potatobowloven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.50_pourtea": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.51_breadoven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.52_holdercup": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.53_stackcup": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.54_placecup": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.55_pumpkinbowloven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.56_placeplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.57_potatolittleoven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.58_pumpkinlittleoven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.59_steamedbreadlittleoven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.5_eggoven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.6_applebowloven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.6_applebowloven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.7_applegreenplate_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.8_appleblueplate_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.agilex_3rgb.9_appleyellowplate_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_0_release.franka_1rgb.bread_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_1rgb.bread_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241021_close_trash_bin_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241021_insert_marker_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241021_open_trash_bin_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241021_remove_marker_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241022_lamp_off_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241022_lamp_on_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241022_side_pull_close_drawer_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241022_side_pull_open_drawer_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241023_pick_pear_from_bowl_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241023_pick_pear_from_bowl_2": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241023_place_pear_in_bowl_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.241023_place_pear_in_bowl_2": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.blue_cub_on_pink": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.cap_close_dustbin": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_cap_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_cap_tool_box": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can_2": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.close_trash": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_cap_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_cap_tool_box": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can_2": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_the_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.open_trash": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_apple_into_chest": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_bread_desk": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_bread_into_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_drawer_tool": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_plate_from_plate_rack": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_up_strawberry_from_bowl": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pick_up_strawberry_in_bowl": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.piled_on_stack_blue_block_on_pink_block": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.piled_on_yellow_block_on_purple_block": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_block": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_block_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_block_in_plate_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_block_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_block_tennis_ball": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_basket_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_bread_machine": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_plate_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_plate_2": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table_2": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_cylinder": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_fruit": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_bread": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_in_fruit_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_pick_up_and_throw_away": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_pick_up_and_throw_away_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_purple_block_in_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_purple_block_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_rectangular_prism": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_shape": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_take_bread_and_put_in_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_toy": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_trash": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_in_yellow_block_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_plate_in_plate_rack": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.place_trash": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.pull_across_pull_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.push_across_push_away_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.rotate_close_cabinet": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.rotate_open_cabinet": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_close_cabinet": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer_1_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_open_cabinet": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_open_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.slide_open_drawer_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.stick_target_blue_on_the_pink_obejct": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.franka_3rgb.twist_knob_start_bread_machine": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.bread_in_basket_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.bread_in_basket_old": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.bread_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.close_top_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.close_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.close_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.cover_pot_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.green_pepper_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.green_pepper_in_basket_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.green_pepper_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.open_pot_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.open_top_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.open_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.open_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_banana": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_bread": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_bread_slice": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_donut": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_egg": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_green_onion": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_green_pepper": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_long_bread": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_mangosteen": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_paper_ball": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_pear": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_plastic_bottle": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_pot_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_red_pepper": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_round_bread": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_round_bread_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_square_bread": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_toast": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_triangle_bread": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.pick_up_yellow_pepper": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_banana_in_top_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_bread_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_bread_slice_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_bread_slice_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_can_in_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_donut_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_donut_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_egg_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_egg_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_green_onion_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_green_pepper_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_green_pepper_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_mangosteen_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_paper_ball_in_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_pear_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_plastic_bottle_in_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_pot_lid_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_red_pepper_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_red_pepper_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_square_bread_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_square_bread_in_trash_can": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_toast_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_toast_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_triangle_bread_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_triangle_bread_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_pot": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_top_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_top_white_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.red_pepper_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.red_pepper_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.triangle_bread_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.triangle_bread_in_basket_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.triangle_bread_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_in_basket": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_in_basket_1": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_on_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.agilex_3rgb.20_takecorn_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.28_packtable_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.33_putlemon": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.39_puttomato": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.3_eggplantoven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.40_putavocado": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.41_putplum": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.42_putkiwifruite": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.43_packplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.44_putbluebowlongreenplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.4_potatobowloven": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.5_eggoven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.6_applebowloven_2": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.7_applegreenplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.8_appleblueplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.agilex_3rgb.9_appleyellowplate": [ "observation.states.end_effector_left", "observation.states.end_effector_right" ], "benchmark1_1_release.franka_3rgb.apples_placed_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.bananas_placed_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.bread_is_placed_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.chili_peppers_are_placed_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.chili_peppers_are_placed_on_the_right_side_of_a_plastic_tray": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.close_garbage_bin": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.close_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.cucumber_placed_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.flip_marco_cup": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.mobile_marco_cup": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.open_lid": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.place_marker": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.put_potatoes_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.put_the_bread_on_the_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.put_the_cucumber_on_the_left_side_of_the_bowl": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.put_the_red_apple_in_the_bowl": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.put_the_steamed_buns_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.red_apple_placed_in_the_center_of_the_desktop": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.side_opening_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.side_pull_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.strawberries_on_a_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.take_marker_pen": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.turn_off_lamp": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.turn_on_desk_lamp": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.yellow_bananas_placed_on_a_plastic_tray": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_3rgb.yellow_square_placed_on_ceramic_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_fr3_dual.both_pour_water": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_fr3_dual.left_place_gray_plate_from_low_rack_on_left_of_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_fr3_dual.left_place_gray_plate_on_lower_rack": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_fr3_dual.left_push_plate_to_right_of_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_fr3_dual.right_slide_close_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.franka_fr3_dual.right_slide_open_drawer": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.green_pepper_on_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.green_pepper_on_the_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1025": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1028": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1029": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1030": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1031": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1101": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1126": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_green_pepper_from_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_green_pepper_from_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_red_pepper_from_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_red_pepper_from_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_cucumber_from_the_basket_1125": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_cucumber_from_the_table_1125": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1025": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1028": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1029": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1030": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1031": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1101": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1126": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1025": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1028": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1029": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1030": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1031": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1101": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1126": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_green_vegetable_from_the_basket_1121": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_green_vegetable_from_the_table_1121": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mango_from_the_table_1104": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mango_from_the_table_1120": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mangoes_from_the_basket_1104": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mangoes_from_the_basket_1120": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_oranges_from_the_basket_1119": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_oranges_from_the_table_1119": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_sweet_potato_from_the_basket_1122": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_sweet_potato_from_the_table_1122": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_yellow_peppers_from_the_basket_1101": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_the_yellow_peppers_from_the_table_1101": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_plate_copy_1734079773826": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_table_copy_1734079574938": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pickupthebananafromtheplate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.pickupthebananafromthetable": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_cucumber_on_the_table_1125": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1025": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1028": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1029": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1030": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1031": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1101": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1126": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_green_vegetable_on_the_table_1121": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_mango_on_the_table_1104": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_mango_on_the_table_1120": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_oranges_on_the_table_1119": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.place_the_sweet_potato_on_the_table_1122": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.placebananaonaplate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_cucumber_in_the_basket_1125": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1105": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1106": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1107": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1111": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1112": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1113": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1114": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1118": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_green_vegetable_in_the_basket_1121": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_mango_in_the_basket_1104": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_mango_in_the_basket_1120": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_oranges_in_the_basket_1119": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.put_the_sweet_potato_in_the_basket_1122": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.putthebananaonthetable": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.red_pepper_in_table": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.red_pepper_on_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1104": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1105": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1106": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1107": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1108": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1111": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1112": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1113": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1114": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1118": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.yellow_pepper_on_plate": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_1_release.ur_1rgb.yellow_pepper_on_plate_copy_1734079761061": [ "observation.states.end_effector", "observation.states.joint_position" ], "benchmark1_2_release.franka_3rgb.241223_upright_cup": [ "observation.states.end_effector", "observation.states.joint_position" ], "droid_lerobot": [ "observation.state" ], "leju_robot_box_storage_parcel": [ "eef_sim_pose_state", "action" ], "leju_robot_box_storage_parcel_a": [ "eef_sim_pose_state", "action" ], "leju_robot_box_storage_parcel_b": [ "eef_sim_pose_state", "action" ], "leju_robot_box_storage_parcel_d": [ "eef_sim_pose_state", "action" ], "leju_robot_box_storage_parcel_g": [ "eef_sim_pose_state", "action" ], "leju_robot_box_storage_parcel_h": [ "eef_sim_pose_state", "action" ], "leju_robot_box_storage_parcel_j": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_a": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_aa": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_ab": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_ac": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_ad": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_ae": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_af": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_ag": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_b": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_c": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_d": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_e": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_f": [ "eef_sim_pose_state", "action" ], "leju_robot_hotel_services_i": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_a": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_b": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_c": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_f": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_g": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_h": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_k": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_n": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_q": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_r": [ "eef_sim_pose_state", "action" ], "leju_robot_moving_parts_u": [ "eef_sim_pose_state", "action" ], "leju_robot_part_placement": [ "eef_sim_pose_state", "action" ], "leju_robot_pass_the_cleaner_a": [ "eef_sim_pose_state", "action" ], "leju_robot_pass_the_cleaner_b": [ "eef_sim_pose_state", "action" ], "leju_robot_pass_the_cleaner_c": [ "eef_sim_pose_state", "action" ], "leju_robot_pass_the_cleaner_d": [ "eef_sim_pose_state", "action" ], "leju_robot_pass_the_cleaner_e": [ "eef_sim_pose_state", "action" ], "real.genie1.Pick_a_bag_of_bread_with_the_left_arm__then_handover.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.Pick_up_the_flower_and_insert_it_into_the_vase.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.Pickup_a_bag_of_potato_chips_and_put_it_in_the_shopping_cart.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.Pickup_a_bottle_of_black_tea_and_place_it_into_the_shopping_cart.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.Pickup_a_bottle_of_black_tea_into_the_basket.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.Put_the_pen_from_the_table_into_the_pen_holder.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.pick_a_bottle_of_black_tea_and_hand_over_to_the_person.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.pickup_a_bag_of_bread_into_the_basket.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "real.genie1.pickup_a_bag_of_chip_to_the_basket.set_0": [ "observation.states.joint.position", "observation.states.effector.position", "observation.states.head.position", "observation.states.waist.position", "observation.states.robot.orientation", "observation.states.robot.position" ], "sim.articulation_tasks.franka.close_the_electriccooker": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_laptop": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_microwave_part1": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_microwave_part2": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_pot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_trashcan": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_washingmachine_left": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.close_the_washingmachine_right": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.heat_the_food_in_the_microwave": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_laptop": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_microwave_part1": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_microwave_part2": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_pot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.franka.open_the_trashcan": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.articulation_tasks.lift2.close_the_microwave_left_arm_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.close_the_microwave_left_arm_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.close_the_microwave_right_arm_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.close_the_microwave_right_arm_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.close_the_package": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.heat_the_food_in_the_microwave": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_left_arm_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_left_arm_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_right_arm_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.open_the_microwave_right_arm_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_left_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_left_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_right_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_left_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_left_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_right_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_right_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.close_the_microwave_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.close_the_microwave_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.open_the_microwave_from_scratch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.open_the_microwave_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.open_the_microwave_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_bottom": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_middle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_left_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_left_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_right_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_right_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_left_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_left_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_right_arm_clockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_right_arm_counterclockwise": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.franka.collect_the_shoes": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_colorful_cups": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_alarm_clocks": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_brushes": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_glues": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.organize_the_teaboxes": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.pick_the_priced_item": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.select_a_drink": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.sort_the_table_waste": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.franka.track_the_targets": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.basic_tasks.genie1.store_the_eggs_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.genie1.store_the_eggs_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_left_arm_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_left_arm_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_right_arm_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_right_arm_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.arrange_the_tableware": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.collect_the_shoes": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.flip_the_package_on_conveyor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.fold_long_shirts": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.fold_short_pants": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.fold_short_shirts": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.fold_towels": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.hang_the_cup_on_rack_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.hang_the_cup_on_rack_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.insert_the_flower_in_vase_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.insert_the_flower_in_vase_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.insert_the_markpen_in_penholder_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.insert_the_markpen_in_penholder_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.organize_colorful_cups": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.organize_the_alarm_clocks": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.organize_the_brushes": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pick_beef_sandwich_on_conveyor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pick_ham_sandwich_on_conveyor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pick_the_package_on_conveyor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pick_the_priced_item": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pour_Baijiu_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pour_Baijiu_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pour_redwine_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pour_redwine_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pour_water_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.pour_water_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.recovery_pick_objects_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.recovery_pick_objects_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.select_a_drink": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.sort_the_table_waste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.sort_the_tray_on_rack": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.stack_the_boxes_left_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.stack_the_boxes_right_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.store_the_toothbrushes_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.store_the_toothbrushes_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.track_the_targets": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.watering_plants_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.lift2.watering_plants_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.collect_the_shoes": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.hang_the_cup_on_rack_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.hang_the_cup_on_rack_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_flower_in_vase_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_flower_in_vase_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_markpen_in_penholder_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.insert_the_markpen_in_penholder_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.organize_colorful_cups": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.organize_the_alarm_clocks": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.organize_the_brushes": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pick_beef_sandwich_on_conveyor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pick_ham_sandwich_on_conveyor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pick_the_priced_item": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pour_Baijiu_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pour_Baijiu_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pour_redwine_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pour_redwine_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pour_water_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.pour_water_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.select_a_drink": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.sort_the_table_waste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.sort_the_tray_on_rack": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.stack_the_boxes_left_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.stack_the_boxes_right_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.track_the_targets": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.watering_plants_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.basic_tasks.split_aloha.watering_plants_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.franka.put_the_trash_in_trashcan_part1": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.long_horizon_tasks.franka.put_the_trash_in_trashcan_part2": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.long_horizon_tasks.franka.sort_the_trash": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.long_horizon_tasks.franka.sweep_the_trash": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_brown_cloth_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_brown_cloth_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_sponge_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_sponge_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_white_cloth_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_white_cloth_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part1.Task2_v3": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part3": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_ham_sandwich_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_ham_sandwich_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.collect_the_glues": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.gather_the_teaboxes": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.microwave_oven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.microwaveoven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_1l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_2l1r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_2l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_1l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_2l1r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_2l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_a_beef_sandwich_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_a_beef_sandwich_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.bowl_left_right_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.bowl_right_left_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.left_right_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.right_left_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part3": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part4": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.lift2.sweep_the_trash": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_brown_cloth_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_brown_cloth_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_sponge_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_sponge_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_white_cloth_left_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_white_cloth_right_arm": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.collect_the_glues": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.gather_the_teaboxes": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_1l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_2l1r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_2l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_2_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_2_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_3_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_3_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_1l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_2l1r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_2l2r": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_a_beef_sandwich": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.bowl_left_right_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.bowl_right_left_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.left_right_left": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.right_left_right": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sweep_the_trash.sweep_1_trash": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.long_horizon_tasks.split_aloha.sweep_the_trash.sweep_2_trash": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.franka.continues_pick_and_place_part1": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.continues_pick_and_place_part2": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.basket": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.basket_top": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.bowl": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.box": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.dish": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.drawing": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.flower_pot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.microwaveoven": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.pad": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.pan": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.projector": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.basket_top": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.bowl": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.box": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.dish": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.drawing": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.flower_pot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.microwaveoven": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.pad": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.pan": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.projector": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-book": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-box": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-handbag": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-hat": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-asparagus": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-ball": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bamboo_shoots": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-banana": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-battery": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-belt": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bottle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bowl": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-box": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-boxed_beverage": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bread": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-brush": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cake": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-calculator": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-candle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-carrot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chess": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chicken_leg": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chili": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chinese_chess": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-clock": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-conch": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-corn": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cucumber": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cup": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dinosaur": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dish": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-donut": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dumpling": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-egg": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-egg_tart": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-eraser": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-facial_cream": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-flash_light": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-garage_kit": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-garlic": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-glasses": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-glasses_case": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hair_dryer": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hamburger": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hammer": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hand_cream": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hot_dog": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-knife": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lemon": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lipstick": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lotus_root": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mango": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mangosteen": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-medicine_bottle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mooncake": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mouse": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mug": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-onion": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-orange": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pastry": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-peach": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pear": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pen": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pineapple": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pitaya": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pomegranate": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-power_strip": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-razor": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-red_wine_glass": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-remote_control": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-rubik_cube": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-sausage": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-scissor": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shampoo": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shoe": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shrimp": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-soap": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-spanner": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-starfish": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-sweet_potato": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-table_tennis_bat": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tape_measure": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-teapot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-timer": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tissue": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tomato": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tooth_brush": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tooth_paste": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_animals": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_boat": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_bus": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_car": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_motorcycle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_plane": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_plant": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_train": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_truck": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-umbrella": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-waffle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-watch": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-whistle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-can": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-red_wine_glass": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-spoon": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part1.real-camera": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-book": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-box": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-handbag": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-hat": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-asparagus": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-ball": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bamboo_shoots": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-banana": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-battery": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-belt": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bottle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bowl": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-box": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-boxed_beverage": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bread": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-brush": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cake": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-calculator": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-candle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-carrot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chess": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chicken_leg": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chili": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chinese_chess": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-clock": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-conch": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-corn": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cucumber": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cup": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dinosaur": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dish": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-donut": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dumpling": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-egg": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-egg_tart": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-eraser": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-facial_cream": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-flash_light": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-garage_kit": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-garlic": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-glasses": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-glasses_case": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hair_dryer": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hamburger": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hammer": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hand_cream": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hot_dog": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-knife": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lemon": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lipstick": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lotus_root": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mango": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mangosteen": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-medicine_bottle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mooncake": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mouse": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mug": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-onion": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-orange": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pastry": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-peach": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pear": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pen": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pineapple": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pitaya": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pomegranate": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-power_strip": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-razor": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-red_wine_glass": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-remote_control": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-rubik_cube": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-sausage": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-scissor": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shampoo": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shoe": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shrimp": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-soap": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-spanner": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-starfish": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-sweet_potato": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-table_tennis_bat": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tape_measure": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-teapot": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-timer": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tissue": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tomato": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tooth_brush": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tooth_paste": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_animals": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_boat": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_bus": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_car": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_motorcycle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_plane": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_plant": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_train": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_truck": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-umbrella": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-waffle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-watch": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-whistle": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-can": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-red_wine_glass": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-spoon": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.franka.single_pick_part2.real-camera": [ "states.joint.position", "states.gripper.position", "states.gripper.pose" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.kettle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.kettle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.microwaveoven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.microwaveoven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.microwaveoven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_bus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.continues_pick_and_place_part1": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.continues_pick_and_place_part2": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.microwaveoven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.projector": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.basket_top": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.drawing": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.microwaveoven": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.pad": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.projector": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.basket": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.flower_pot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.pan": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pitaya": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-book": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-handbag": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-hat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-asparagus": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-ball": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bamboo_shoots": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-banana": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-battery": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-belt": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bowl": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-box": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-boxed_beverage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bread": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-calculator": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-candle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-carrot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chicken_leg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chili": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chinese_chess": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-clock": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-conch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-corn": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cucumber": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cup": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dinosaur": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-donut": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dumpling": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-egg": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-egg_tart": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-eraser": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-facial_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-flash_light": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-garage_kit": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-garlic": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-glasses": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-glasses_case": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hair_dryer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hamburger": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hammer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hand_cream": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hot_dog": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-knife": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lemon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lipstick": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lotus_root": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mango": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mangosteen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-medicine_bottle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mooncake": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mouse": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mug": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-onion": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-orange": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pastry": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-peach": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pear": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pen": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pineapple": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pomegranate": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-power_strip": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-razor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-remote_control": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-rubik_cube": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-sausage": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-scissor": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shampoo": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shoe": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shrimp": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-soap": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-spanner": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-starfish": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-sweet_potato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-table_tennis_bat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tape_measure": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-teapot": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-timer": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tissue": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tomato": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tooth_brush": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tooth_paste": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_animals": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_boat": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_car": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_motorcycle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_plane": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_plant": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_train": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_truck": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-umbrella": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-waffle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-watch": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-whistle": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-can": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-red_wine_glass": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-spoon": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.real-camera": [ "states.left_joint.position", "states.left_gripper.position", "states.right_joint.position", "states.right_gripper.position" ], "task_327": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_351": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_352": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_354": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_356": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_357": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_358": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_359": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_360": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_361": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_362": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_363": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_365": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_366": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_367": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_368": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_369": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_372": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_373": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_374": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_375": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_376": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_377": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_378": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_384": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_385": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_388": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_389": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_390": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_398": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_410": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_414": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_421": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_422": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_424": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_425": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_428": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_429": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_431": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_433": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_434": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_438": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_440": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_444": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_445": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_446": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_451": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_452": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_453": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_454": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_455": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_460": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_462": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_463": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_464": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_465": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_466": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_468": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_470": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_471": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_474": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_477": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_478": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_480": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_483": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_485": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_486": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_487": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_491": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_492": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_494": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_497": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_498": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_501": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_503": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_504": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_505": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_506": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_507": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_508": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_509": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_510": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_511": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_512": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_515": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_520": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_521": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_522": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_524": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_525": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_527": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_528": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_529": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_532": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_533": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_534": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_535": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_537": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_540": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_541": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_542": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_543": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_544": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_545": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_550": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_551": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_555": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_556": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_558": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_561": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_563": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_566": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_567": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_568": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_570": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_573": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_574": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_575": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_580": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_582": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_584": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_587": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_588": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_589": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_590": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_593": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_596": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_597": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_598": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_599": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_600": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_602": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_603": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_604": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_607": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_609": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_613": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_616": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_619": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_621": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_658": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_664": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_681": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_682": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_683": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_688": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_689": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_692": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_695": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_698": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_707": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_708": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_709": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_711": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_712": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_714": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_715": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_716": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_717": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_719": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_722": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_725": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_726": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_729": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_732": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_734": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_735": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_739": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_740": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_741": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_744": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_748": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_751": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_761": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_762": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_764": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_765": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_773": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_779": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_781": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_782": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_783": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_785": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_786": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "task_787": [ "observation.states.head.position", "observation.states.waist.position", "observation.states.joint.position" ], "xvla-soft-fold": [ "observation.state" ] }, "select_video_keys": { "AIRBOT_MMK2_bowl_storage_pepper": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_boxs_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_cake_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_clean_the_desktop_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_close_the_computer": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_cup_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_desktop_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_diamond_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_double-sided_tape_placement": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_egg_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_food_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_item_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_lemon_and_orange_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_medicine_bottle_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_mobile_calculator_box": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_mobile_car": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_mobile_phone_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_organize_and_place_books": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_organize_books": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_blue_and_purple_blocks": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_books": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_building_blocks": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_cake": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_glasses_case_and_gold_bars": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_network_cable_and_mouse_box": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_paper_drawer": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_piano_and_the_needle-nose_pliers": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_pliers_and_wallpaper_knife": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_shark_toys_and_gold_bars": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_small_bowl_of_canned_food": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_umbrella_and_the_ruler": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_place_the_yellow_block": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_play_the_guitar": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_potato_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_pour_out_the_beauty_blender": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_pull_the_syringe_piston": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_pumpkin_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_push_building_blocks": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_screw_the_bottle_cap": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_square_arrangement": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_stacking_blocks": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_box_for_mouse_and_sponge": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_computer_box": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_for_building_blocks_and_beauty_sponges": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_item": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_remote_control_clip_box_water_bottle": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_rubiks_cube_and_cup": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_spoon": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_tissue_and_milk_carton": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_tissue_paper": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_toy_cars_and_cookies": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_storage_wet_tissue_and_building_block": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_store_beauty_blender_and_building_blocks": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_store_coffee_cups": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_store_peaches_and_pears": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_store_pomegranates_and_mangoes": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_store_wet_wipes_and_bowls": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_take_down_paper_cup": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_take_down_umbrella_and_mineral_water": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_take_the_book": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AIRBOT_MMK2_toy_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Adjust_The_Air_Conditioner_Temperature_20250711_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "AgiBot-g1_battery_storage_b": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_b": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_c": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_cardboard_box_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_cardboard_box_b": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_cardboard_box_c": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_box_storage_e": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_left_capture_part": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_mobile_accessory_storage_box_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_mobile_accessory_storage_box_c": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_mobile_accessory_storage_box_e": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_mobile_accessory_storage_box_f": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_pick_up_battery": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_picks_up_battery_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_picks_up_battery_b": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_picks_up_cardboard_box": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_picks_up_parts_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_remove_the_accessory": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_right_capture_part": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_robotic_arm_picks_up_battery": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_robotic_arm_picks_up_parts": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_storage_item_b": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_storage_item_d": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_storage_item_e": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "AgiBot-g1_tool_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Arrange_Fruits_20250819_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_Mineral_Water_Bottles_On_The_Desk_20250721_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_Sofa_Cushions_20250708_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_Sofa_Cushions_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Fruits_20250716_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Fruits_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Fruits_20250822_013": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Sofa_Cushions_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Tray_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Tray_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_The_Tray_20250822_013": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_Throw_Pillows_On_Living_Room_Sofa_20250624_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Arrange_Toiletries_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Bedside_Console_With_Switch_Panel20250624_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Boil_The_Water_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Chair_Push_And_Place_20250709_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Chair_Push_And_Place_20250719_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Chair_Push_And_Place_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Check_Out_At_Self-checkout_Counter_20250607_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_Cutting_Board_20250627_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Chopping_Board_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Cutting_Board_20250711_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Cutting_Board_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Mirror_20250714_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Mirror_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Sink_20250710_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Sink_20250721_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Sink_20250730_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Sofa20250627_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_The_Toilet20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clean_Toilet_20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Clothes_Into_The_Basket_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Cobot_Magic_box_storage_chopsticks": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_catch_the_ball": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_classification_of_fruits_and_vegetables": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_classification_of_tableware": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_clean_blackboard": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_clean_up_the_tableware": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_clear_the_desktop": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_close_book": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_close_button": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_cube_reset": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_fold_clothes": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_fold_the_towel": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_fold_towel_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_mobile_cube": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_mobile_cube_blackboard": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_beverage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_plate": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_the_ball": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_the_ball_interference": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_the_bread": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_the_cup": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_the_plate": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_move_the_small_ball": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_movethe_position_of_the_bluetooth": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_place_square_pyramid": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_place_the_test_tube": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_plate_storage_apple": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_plate_storage_bread": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_plate_storaje_baozi": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_pot_storage_steamer": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_pour_drink": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_pour_water_bottle": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_prepare_breakfast": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_pull_zipper": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_pushing_magnet": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_put_in_the_pear": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_put_the_building_block_on_the_table": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_steamer_storage_dumpling": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_storage_plate": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_take_out_a_pen_from_the_pen_holder": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb_rgb", "observation.images.cam_right_wrist_rgb_rgb" ], "Cobot_Magic_take_out_the_bread": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_take_the_shoes_off_the_shelf": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_the_box_stores_table_tennis_balls": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_the_plate_holds_the_fruit": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_the_plate_holds_the_vegetables": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_turn_off_the_desk_lamp": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_turn_on_the_bulb": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_turn_on_the_desk_lamp": [ "observation.images.cam_front_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_twist_bottle_cap": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Cobot_Magic_water_bottle_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Collect_Juice_20250621_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Connect_Router_Cables_20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Cooking_Food_In_An_Air_Fryer_20250719_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Cooking_Food_In_An_Air_Fryer_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Cooking_and_Kitchen_Clean": [ "observation.images.robot0_camera0", "observation.images.robot1_camera0" ], "Desktop_Garbage_Decluttering_20250712_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Desktop_Garbage_Organizing20250721_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Dispose_Of_Garbage_In_The_Trash_Can": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Dispose_Of_Leftover_Food_20250626_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Doll_Storage_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Dry_Clothes_In_A_Dryer_20250619_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Egg_Placement20250703_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Enter_Exit_Door_Turn_On_Off_lights_20250620_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Floor_cloth_wiping_stains_20250614_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Flowers_Are_Inserted_Into_Vases_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Fold_Clothes20250617_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Fold_Clothes_20250807_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Folding_Clothes_and_Zipper_Operations": [ "observation.images.robot0_camera0", "observation.images.robot1_camera0" ], "From_Kitchen_To_Bedroom20250703_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "G1edu-u3_basket_storage_apple": [ "observation.images.cam_high_rgb", "observation.images.color_left_wrist", "observation.images.color_right_wrist" ], "G1edu-u3_plate_storage_doll": [ "observation.images.cam_high_rgb", "observation.images.color_left_wrist", "observation.images.color_right_wrist" ], "G1edu-u3_plate_storage_rabbit_doll": [ "observation.images.cam_high_rgb" ], "Handle_Plates_20250619_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Handle_The_Wooden_Barrel_Lid20250619_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Hang_Clothes20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Hang_The_Towel_On_The_Shelf_20250715_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Hang_The_Towel_On_The_Shelf_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Hang_The_Towel_On_The_Shelf_20250805_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Heat_Food_In_Microwave_Oven_20250703_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Heat_Food_In_The_Microwave_20250710_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Insert_Flowers_Into_A_Vase_20250711_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Iron_The_Clothes_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Layered_Shoe_Cabinet_For_Placing_Slippers_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Lift_The_Steamer_Lid20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Lift_up_the_carpet_and_wipe_the_floor_20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Locker_torage_And_Retrieval20250623_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_Breakfast_20250626_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_Breakfast_20250726_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_Milk_Powder_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_Milk_Powder_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_Tea_20250624_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_The_Bed_20250616_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_The_Bed_20250708_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Make_The_Bed_20250730_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Milk_Powder_Preparation20250701_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_Curtains_20250708_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_Microwave_Oven_20250623_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_Nightstand_Door_20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_Nightstand_Drawer_20250624_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Curtain_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Curtain_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Door_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Nightstand_To_Place_Items_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Notebook20250628_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Refrigerator_Drawer_To_Place_Items_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_And_Close_The_Refrigerator_Drawer_To_Place_Items_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_Close_Lid_Stirring_20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_Or_Close_The_Cabinet_Door_To_Place_Items_20250719_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_Or_Close_The_Cabinet_Door_To_Place_Items_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_The_Bedroom_Door_To_Enter20250701_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Open_and_close_the_freezer_door_20250620": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Opening_Or_Closing_Refrigerator_Drawers_To_Store_And_Retrieve_Items20250624_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Clutter": [ "observation.images.robot0_camera0", "observation.images.robot1_camera0" ], "Organize_Dried_Fruit_And_Meat_Shelves_20250702_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Mineral_Water_Bottles_0n_The_Table_20250709_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Potato_Chip_Shelves_20250701_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Refrigerated_Beverage_Case_20250704_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Refrigerated_shelf_20250703_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Refrigerator_Items0250703_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Beverage_Cooler_20250630_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Bread_Shelf_20250630_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Coat_Rack20250617_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Condiment_Shelf_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Potato_Chip_Shelf_20250630_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Seasoning_Shelf_20250620_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Seasoning_Shelf_20250717_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Signs20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Toiletries_20250719_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_The_Wall-mounted_Coat_Rack_20250716_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Toys_20250628_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_Toys_20250716_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organize_trays_20250621_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Organizing_Desktop_Trash_20250630_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pack_Medicines_Into_Medicine_Box_20250707_005": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pen_Case_For_Storing_Stationery_20250717_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pen_Case_For_Storing_Stationery_20250719_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pen_Case_For_Storing_Stationery_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pick_And_Place_Items_On_The_Potato_Chip_Shelves_20250701_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pick_Up_Garbage_On_The_Ground_20250724_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pick_Up_Garbage_On_The_Ground_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pick_Up_Garbage_On_The_Ground_20250805_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pick_Up_Or_Put_Down_The_Clip20250619": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pick_Up_Trash_From_Ground_20250709_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Place_Slippers_In_The_Layered_Shoe_Cabinet_20250805_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Place_The_Dress_Shirt_On_The_Hanger20250619_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Plug_And_Unplug_Switch_Lights_20250726_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Plug_And_Unplug_Switch_Lights_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Plug_Into_A_Fixed_Socket_20250710_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Plug_Into_A_Fixed_Socket_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Plug_The_Socket_20250616_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "PourWater_20250614": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pour_Leftovers_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pour_Out_The_Leftover_Food_20250714_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pour_The_Leftover_Food_20250724_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pour_Water20250708_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pour_Water_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pour_Water_20250806_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pull_Out_The_Cap_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Push_And_Pull_The_Chair_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Push_In_Chairs_20250614_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Pushing_Garbage_Trucks_To_Put_Garbage_Away20250707_005": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_A_Bag_In_The_Trash_Can20250617_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_Clothes_Into_The_Basket_20250709_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_Clothes_Into_The_Basket_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_Clothes_Into_The_Basket_20250813_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_Clothes_Into_Wardrobe_20250707_005": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_Shoes_Into_The_Shoe_Box_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_Slippers_Into_Floor_Standing_Shoe_Cabinet_20250620_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Flowers_In_The_Vase20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Glasses_In_The_Glasses_Case_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Glasses_In_The_Glasses_Case_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Items_Into_The_Storage_Box_20250929_002_007": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Landline_Phone_Back_In_Place_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Pen_Into_The_Pen_Holder_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Pen_Into_The_Pen_Holder_20250724_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Pen_Into_The_Pen_Holder_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Phone_Back_In_place_20250716_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Pillow_On_The_Bed20250617_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Shoes_Into_The_Shoe_Box_202507116_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Shoes_Into_The_Shoebox_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_The_Trash_Bag_At_The_Door20250626_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Put_the_shoes_into_the_shoe_box_20250621_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "R1_Lite_boil_water_in_a_kettle": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_build_blocks": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_catch_the_water": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_clean_the_floor": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_clean_the_sink": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_clean_toilet": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_connect_the_router_cable": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_cover_the_pot_lid": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_dispose_of_leftover_food": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_fold_clothes": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_garbage_disposal": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_hang_clothes": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_make_a_landline_call": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_make_breakfast": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_make_tea": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_make_the_bed": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_apple": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_black_marker": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_brush": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_cookie": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_duck": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_glass": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_long_bread": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_milk": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_orange": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_peeler": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_pen": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_rubiks_cube": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_spoon": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_move_the_position_of_the_triangle_bread": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_open_and_close_curtains": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_open_and_close_nightstand_door": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_open_and_close_nightstand_drawer": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_open_and_close_the_freezer_door": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_open_the_food_pan": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_opening_and_closing_aalcony_sliding_doors": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_peach_storage": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_place_the_dress_shirt_on_the_hanger": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_plug_the_socket": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_pour_water": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_put_on_a_garbage_bag": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_put_the_pillow_on_the_bed": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_put_the_shoes_into_the_shoe_box": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_put_the_tableware_into_the_cupboard": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_sliding_chair": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_stack_baskets": [ "observation.images.cam_high_left_rgb", "observation.images.cam_high_right_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_storage_of_toiletries": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_switch_labels": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_switch_on_and_off_the_central_air_conditioning": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_tableware_cleaning": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_take_and_place_the_portable_power_bank": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_take_and_put_away_garden_stuff": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_take_and_put_away_garden_stuff_a": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_take_and_put_away_items": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_take_and_put_the_bowl": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_take_or_store_plates": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_tea_service_table_setting": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_tidy_up_toiletries": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_wash_the_tableware": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_washing_board": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "R1_Lite_wipe_the_table": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_basket_storage_banana": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_basket_storage_egg_yolk_pastry": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_basket_storage_long_bread": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_basket_storage_orange": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_basket_storage_peach": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_build_blocks": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_clean_table": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_desktop_organization": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_fold_shorts": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_fold_towel": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_food_packaging": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_food_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_fruit_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_get_water": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_glasses_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_place_test_tube": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_place_the_fruits_repeatedly": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_plate_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_pour_coffee_beans": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_pour_rice": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_pour_tea": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_stack_baskets": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "RMC-AIDA-L_stir_coffee": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "ReplaceFacialTissue_20250613_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Replace_The_Toilet_Paper_Roll_20250712_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Replace_The_Toilet_Paper_Roll_20250805_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Replace_The_Toiletries_20250616_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Replace_Toilet_Paper_20250623_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Retrieving_And_Placing_Items_Inside_The_TV_Cabinet_20250726_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Retrieving_And_Placing_Items_Inside_The_TV_Cabinet_20250805_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "ReturnClothesToBasket_20250613_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Ring_The_Landline20250627_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Serve_Soup_In_The_Rice_Pot_20250717_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Serve_Soup_With_A_Rice_Pot_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Shoes_Handling": [ "observation.images.robot0_camera0", "observation.images.robot1_camera0" ], "Sliding_Bar_Stool_20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Sort_Out_Desktop_Garbage20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Split_aloha_basket_storage_banana": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_basket_storage_bread": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_basket_storage_egg_yolk_pastry": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_basket_storage_long_bread": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_basket_storage_orange": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_basket_storage_peach": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_plate_storage": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_pour_rice": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_scoop_coffee_beans": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_wipe_table": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_wipe_the_table": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Split_aloha_zip_up_the_document_bag": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Steam_Rice_20250711_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Steam_Rice_20250721_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Steam_Rice_20250729_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Steam_Rice_20250730_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Stir-Fry_Dishes_20250726_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Stir-fry_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Stir-frying_20250627_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Storage_Tools_20250722_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Storage_Tools_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Storage_Tools_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Storage_Towels_20250715_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Storage_Towels_20250721_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Store_Dolls_20250812_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Store_Fruit_20250811_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Store_Tableware_20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Store_The_Dolls_20250719_008": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Switch_The_Fan_On_And_Off_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Switch_The_Fan_On_And_Off_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Switch_The_Rotating_Nightstand_And_Place_Items_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Switch_The_Sign_20250616_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_A_Drink_Out_Of_Fridge_And_Put_It_On_Table_20250712_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_And_Place_The_Portable_Power_Bank20250628_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_And_Put_Items_In_And_Out_Of_The_Microwave_Oven_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_Drinks_From_The_Refrigerator_And_Place_Them_On_The_Table_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_Out_The_Laundry_From_The_Washing_Machine20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_a_bowl_from_the_cabinet_20250620_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Take_and_place_tableware_20250620_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Taking_And_Placing_Shoes_In_The_Shoe_Cabinet20250624_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Tianqin_A2_box_storage_part": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Tianqin_A2_container_storage_graphics_card": [ "observation.images.cam_high_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "Tidy_Up_Bathroom_Toiletries_20250623_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Toast_Bread_20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_0n_The_Food_Pot20250618_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_On_And_Off_Central_Air_Conditioning_System_20250623_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_On_And_Off_Central_Air_Conditioning_System_20250624_002_special": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_On_And_Off_The_Air_Conditioner_20250802_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_On_And_Off_The_Small_Fan_20250711_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_On_And_Turn_Off_The_Air_Conditioner_20250724_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Turn_On_Off_The_Light_20250619_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Twist_The_Bottle_Cap20250619_001": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Twist_The_Bottle_Cap_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Twist_The_Bottle_Cap_20250731_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Uncap_The_Pen_20250804_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Use_Of_Objects_20250704_003": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Use_The_Drawer_To_Store_The_Hair_Dryer20250625_002": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Washing_Machine_Washes_Clothes_20250728_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Water_Dispenser_Connected_To_Water20250707_005": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Wearing_A_Strip_Rack_Hanging_Clothes_For_Retrieval_20250724_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Wipe_The_Desktop_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Wipe_The_Desktop_20250804_011": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250709_006": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250725_010": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "Wipe_The_Sewage_Stains_With_A_Ground_Cloth_20250801_012": [ "observation.images.head_rgb", "observation.images.left_wrist_rgb", "observation.images.right_wrist_rgb" ], "alpha_bot_2_carry_the_clothes_basket": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_item_reversal": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_move_the_table": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_operate_the_microwave_oven": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_pass_the_sandbag": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_press_the_button_a": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_recover_after_touching_an_obstacle": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_stack_building_blocks": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "alpha_bot_2_sticker": [ "observation.images.cam_chest_rgb", "observation.images.cam_head_rgb", "observation.images.cam_left_wrist_rgb", "observation.images.cam_right_wrist_rgb" ], "benchmark1_0_release.agilex_3rgb.10_packplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.10_packplate_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.11_brushcup": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.11_brushcup_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.12_packcup": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.13_packbowl": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.14_steamcorn": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.15_steamegg": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.15_steamegg_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.16_steampotato": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.16_steampotato_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.17_packtable": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.18_makebread": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.18_makebread_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.19_takebread": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.19_takebread_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.1_potatooven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.1_potatooven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.20_takecorn": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.20_takecorn_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.21_takeegg": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.22_takepotato": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.26_cleanplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.27_carrotgreenplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.28_packtable_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.29_steampumpkin": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.2_cornoven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.30_takepumpkin": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.31_unpackbowl": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.32_unpackcup": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.35_putcarrot": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.36_putpepper": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.37_putegg": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.38_putcorn": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.39_puttomato": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.3_eggplantOven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.3_eggplantoven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.40_putavocado": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.41_putplum": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.42_putkiwifruite": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.43_packplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.44_putbluebowlongreenplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.45_putgreenbowlonblueplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.46_putredbowlonwhiteplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.48_putpotatogreenplatefromsteam_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.4_potatobowloven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.50_pourtea": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.51_breadoven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.52_holdercup": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.53_stackcup": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.54_placecup": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.55_pumpkinbowloven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.56_placeplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.57_potatolittleoven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.58_pumpkinlittleoven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.59_steamedbreadlittleoven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.5_eggoven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.6_applebowloven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.6_applebowloven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.7_applegreenplate_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.8_appleblueplate_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.agilex_3rgb.9_appleyellowplate_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_0_release.franka_1rgb.bread_in_basket": [ "observation.images.camera_top" ], "benchmark1_0_release.franka_1rgb.bread_on_table": [ "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241021_close_trash_bin_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241021_insert_marker_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241021_open_trash_bin_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241021_remove_marker_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241022_lamp_off_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241022_lamp_on_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241022_side_pull_close_drawer_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241022_side_pull_open_drawer_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241023_pick_pear_from_bowl_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241023_pick_pear_from_bowl_2": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241023_place_pear_in_bowl_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.241023_place_pear_in_bowl_2": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.blue_cub_on_pink": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.cap_close_dustbin": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_cap_lid": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_cap_tool_box": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_cap_trash_can_2": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.close_trash": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_cap_lid": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_cap_tool_box": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_cap_trash_can_2": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_the_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.open_trash": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_apple_into_chest": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_bread_desk": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_bread_into_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_drawer_tool": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_plate_from_plate_rack": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_up_strawberry_from_bowl": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pick_up_strawberry_in_bowl": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.piled_on_stack_blue_block_on_pink_block": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.piled_on_yellow_block_on_purple_block": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_block": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_block_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_block_in_plate_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_block_on_table": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_block_tennis_ball": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_basket": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_basket_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_bread_machine": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_in_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_plate_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_plate_2": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_bread_on_table_2": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_cylinder": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_fruit": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_bread": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_in_basket": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_in_fruit_basket": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_fruit_on_table": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_pick_up_and_throw_away": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_pick_up_and_throw_away_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_purple_block_in_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_purple_block_on_table": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_rectangular_prism": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_shape": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_take_bread_and_put_in_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_toy": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_trash": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_in_yellow_block_on_table": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_plate_in_plate_rack": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.place_trash": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.pull_across_pull_in_basket": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.push_across_push_away_basket": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.rotate_close_cabinet": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.rotate_open_cabinet": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_close_cabinet": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_close_drawer_1_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_open_cabinet": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_open_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.slide_open_drawer_1": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.stick_target_blue_on_the_pink_obejct": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.franka_3rgb.twist_knob_start_bread_machine": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.bread_in_basket_1": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.bread_in_basket_old": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.bread_on_table": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.close_top_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.close_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.close_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.cover_pot_lid": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.green_pepper_in_basket": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.green_pepper_in_basket_1": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.green_pepper_on_table": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.open_pot_lid": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.open_top_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.open_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.open_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_banana": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_bread": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_bread_slice": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_donut": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_egg": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_green_onion": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_green_pepper": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_long_bread": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_mangosteen": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_paper_ball": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_pear": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_plastic_bottle": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_pot_lid": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_red_pepper": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_round_bread": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_round_bread_1": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_square_bread": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_toast": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_triangle_bread": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.pick_up_yellow_pepper": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_banana_in_top_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_bread_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_bread_slice_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_bread_slice_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_can_in_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_donut_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_donut_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_egg_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_egg_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_green_onion_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_green_pepper_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_green_pepper_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_long_bread_in_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_mangosteen_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_paper_ball_in_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_pear_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_plastic_bottle_in_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_pot_lid_on_table": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_red_pepper_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_red_pepper_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_round_bread_in_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_square_bread_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_square_bread_in_trash_can": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_toast_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_toast_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_triangle_bread_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_triangle_bread_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_pot": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_top_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.put_yellow_pepper_in_top_white_drawer": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.red_pepper_in_basket": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.red_pepper_on_table": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.triangle_bread_in_basket": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.triangle_bread_in_basket_1": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.triangle_bread_on_table": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_in_basket": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_in_basket_1": [ "observation.images.camera_top" ], "benchmark1_0_release.ur_1rgb.yellow_pepper_on_table": [ "observation.images.camera_top" ], "benchmark1_1_release.agilex_3rgb.20_takecorn_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.28_packtable_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.33_putlemon": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.39_puttomato": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.3_eggplantoven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.40_putavocado": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.41_putplum": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.42_putkiwifruite": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.43_packplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.44_putbluebowlongreenplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.4_potatobowloven": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.5_eggoven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.6_applebowloven_2": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.7_applegreenplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.8_appleblueplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.agilex_3rgb.9_appleyellowplate": [ "observation.images.camera_front", "observation.images.camera_left_wrist", "observation.images.camera_right_wrist" ], "benchmark1_1_release.franka_3rgb.apples_placed_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.bananas_placed_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.bread_is_placed_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.chili_peppers_are_placed_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.chili_peppers_are_placed_on_the_right_side_of_a_plastic_tray": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.close_garbage_bin": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.close_lid": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.cucumber_placed_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.flip_marco_cup": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.mobile_marco_cup": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.open_lid": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.place_marker": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.put_potatoes_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.put_the_bread_on_the_table": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.put_the_cucumber_on_the_left_side_of_the_bowl": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.put_the_red_apple_in_the_bowl": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.put_the_steamed_buns_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.red_apple_placed_in_the_center_of_the_desktop": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.side_opening_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.side_pull_drawer": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.strawberries_on_a_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.take_marker_pen": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.turn_off_lamp": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.turn_on_desk_lamp": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.yellow_bananas_placed_on_a_plastic_tray": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_3rgb.yellow_square_placed_on_ceramic_plate": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_fr3_dual.both_pour_water": [ "observation.images.camera_front", "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_fr3_dual.left_place_gray_plate_from_low_rack_on_left_of_table": [ "observation.images.camera_front", "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_fr3_dual.left_place_gray_plate_on_lower_rack": [ "observation.images.camera_front", "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_fr3_dual.left_push_plate_to_right_of_table": [ "observation.images.camera_front", "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_fr3_dual.right_slide_close_drawer": [ "observation.images.camera_front", "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.franka_fr3_dual.right_slide_open_drawer": [ "observation.images.camera_front", "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.green_pepper_on_plate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.green_pepper_on_the_table": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1025": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1028": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1029": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1030": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1031": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1101": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.insert_the_flowers_from_the_vase_1126": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_green_pepper_from_plate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_green_pepper_from_table": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_red_pepper_from_plate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_red_pepper_from_table": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_cucumber_from_the_basket_1125": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_cucumber_from_the_table_1125": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1025": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1028": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1029": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1030": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1031": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1101": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_table_1126": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1025": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1028": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1029": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1030": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1031": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1101": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_flowers_from_the_vase_1126": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_green_vegetable_from_the_basket_1121": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_green_vegetable_from_the_table_1121": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mango_from_the_table_1104": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mango_from_the_table_1120": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mangoes_from_the_basket_1104": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_mangoes_from_the_basket_1120": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_oranges_from_the_basket_1119": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_oranges_from_the_table_1119": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_sweet_potato_from_the_basket_1122": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_sweet_potato_from_the_table_1122": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_yellow_peppers_from_the_basket_1101": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_the_yellow_peppers_from_the_table_1101": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_plate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_plate_copy_1734079773826": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_table": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pick_up_yellow_pepper_from_table_copy_1734079574938": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pickupthebananafromtheplate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.pickupthebananafromthetable": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_cucumber_on_the_table_1125": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1025": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1028": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1029": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1030": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1031": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1101": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_flowers_on_the_table_1126": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_green_vegetable_on_the_table_1121": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_mango_on_the_table_1104": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_mango_on_the_table_1120": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_oranges_on_the_table_1119": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.place_the_sweet_potato_on_the_table_1122": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.placebananaonaplate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_cucumber_in_the_basket_1125": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1105": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1106": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1107": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1111": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1112": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1113": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1114": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_garbage_in_the_trash_can_1118": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_green_vegetable_in_the_basket_1121": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_mango_in_the_basket_1104": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_mango_in_the_basket_1120": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_oranges_in_the_basket_1119": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.put_the_sweet_potato_in_the_basket_1122": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.putthebananaonthetable": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.red_pepper_in_table": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.red_pepper_on_plate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1104": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1105": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1106": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1107": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1108": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1111": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1112": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1113": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1114": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.uncap_open_the_trash_can_1118": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.yellow_pepper_on_plate": [ "observation.images.camera_top" ], "benchmark1_1_release.ur_1rgb.yellow_pepper_on_plate_copy_1734079761061": [ "observation.images.camera_top" ], "benchmark1_2_release.franka_3rgb.241223_upright_cup": [ "observation.images.camera_left", "observation.images.camera_right", "observation.images.camera_top" ], "droid_lerobot": [ "observation.images.exterior_image_1_left", "observation.images.exterior_image_2_left", "observation.images.wrist_image_left" ], "leju_robot_box_storage_parcel": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_box_storage_parcel_a": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_box_storage_parcel_b": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_box_storage_parcel_d": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_box_storage_parcel_g": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_box_storage_parcel_h": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_box_storage_parcel_j": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_a": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_aa": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_ab": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_ac": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_ad": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_ae": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_af": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_ag": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_b": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_c": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_d": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_e": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_f": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_hotel_services_i": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_a": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_b": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_c": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_f": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_g": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_h": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_k": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_n": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_q": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_r": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_moving_parts_u": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_part_placement": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_pass_the_cleaner_a": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_pass_the_cleaner_b": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_pass_the_cleaner_c": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_pass_the_cleaner_d": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "leju_robot_pass_the_cleaner_e": [ "observation.images.camera_head_rgb", "observation.images.camera_left_wrist_rgb", "observation.images.camera_right_wrist_rgb" ], "real.genie1.Pick_a_bag_of_bread_with_the_left_arm__then_handover.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.Pick_up_the_flower_and_insert_it_into_the_vase.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.Pickup_a_bag_of_potato_chips_and_put_it_in_the_shopping_cart.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.Pickup_a_bottle_of_black_tea_and_place_it_into_the_shopping_cart.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.Pickup_a_bottle_of_black_tea_into_the_basket.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.Put_the_pen_from_the_table_into_the_pen_holder.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.pick_a_bottle_of_black_tea_and_hand_over_to_the_person.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.pickup_a_bag_of_bread_into_the_basket.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "real.genie1.pickup_a_bag_of_chip_to_the_basket.set_0": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "sim.articulation_tasks.franka.close_the_electriccooker": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_laptop": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_microwave_part1": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_microwave_part2": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_pot": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_trashcan": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_washingmachine_left": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.close_the_washingmachine_right": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.heat_the_food_in_the_microwave": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.open_the_laptop": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.open_the_microwave_part1": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.open_the_microwave_part2": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.open_the_pot": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.franka.open_the_trashcan": [ "images.rgb.head", "images.rgb.hand" ], "sim.articulation_tasks.lift2.close_the_microwave_left_arm_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.close_the_microwave_left_arm_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.close_the_microwave_right_arm_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.close_the_microwave_right_arm_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.close_the_package": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.heat_the_food_in_the_microwave": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.open_the_microwave_left_arm_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.open_the_microwave_left_arm_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.open_the_microwave_right_arm_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.open_the_microwave_right_arm_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_left_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.pull_the_storagefurniture_right_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_left_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.push_the_storagefurniture_right_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_left_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_left_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_left_hearth_right_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_left_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_left_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_right_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.lift2.rotate_the_right_hearth_right_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.close_the_microwave_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.close_the_microwave_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.open_the_microwave_from_scratch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.open_the_microwave_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.open_the_microwave_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_left_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.pull_the_storagefurniture_right_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_left_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_bottom": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_middle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.push_the_storagefurniture_right_arm_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_left_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_left_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_right_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_left_hearth_right_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_left_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_left_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_right_arm_clockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.articulation_tasks.split_aloha.rotate_the_right_hearth_right_arm_counterclockwise": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.franka.collect_the_shoes": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.organize_colorful_cups": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.organize_the_alarm_clocks": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.organize_the_brushes": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.organize_the_glues": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.organize_the_teaboxes": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.pick_the_priced_item": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.select_a_drink": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.sort_the_table_waste": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.franka.track_the_targets": [ "images.rgb.head", "images.rgb.hand" ], "sim.basic_tasks.genie1.store_the_eggs_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.genie1.store_the_eggs_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_left_arm_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_left_arm_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_right_arm_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.genie1.take_shelf_items_to_cart_right_arm_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.arrange_the_tableware": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.collect_the_shoes": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.flip_the_package_on_conveyor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.fold_long_shirts": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.fold_short_pants": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.fold_short_shirts": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.fold_towels": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.hang_the_cup_on_rack_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.hang_the_cup_on_rack_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.insert_the_flower_in_vase_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.insert_the_flower_in_vase_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.insert_the_markpen_in_penholder_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.insert_the_markpen_in_penholder_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.organize_colorful_cups": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.organize_the_alarm_clocks": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.organize_the_brushes": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pick_beef_sandwich_on_conveyor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pick_ham_sandwich_on_conveyor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pick_the_package_on_conveyor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pick_the_priced_item": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pour_Baijiu_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pour_Baijiu_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pour_redwine_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pour_redwine_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pour_water_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.pour_water_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.recovery_pick_objects_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.recovery_pick_objects_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.select_a_drink": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.sort_the_table_waste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.sort_the_tray_on_rack": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.stack_the_boxes_left_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.stack_the_boxes_right_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.store_the_toothbrushes_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.store_the_toothbrushes_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.track_the_targets": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.watering_plants_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.lift2.watering_plants_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.collect_the_shoes": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.hang_the_cup_on_rack_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.hang_the_cup_on_rack_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.insert_the_flower_in_vase_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.insert_the_flower_in_vase_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.insert_the_markpen_in_penholder_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.insert_the_markpen_in_penholder_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.organize_colorful_cups": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.organize_the_alarm_clocks": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.organize_the_brushes": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pick_beef_sandwich_on_conveyor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pick_ham_sandwich_on_conveyor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pick_the_priced_item": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pour_Baijiu_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pour_Baijiu_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pour_redwine_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pour_redwine_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pour_water_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.pour_water_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.select_a_drink": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.sort_the_table_waste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.sort_the_tray_on_rack": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.stack_the_boxes_left_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.stack_the_boxes_right_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.track_the_targets": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.watering_plants_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.basic_tasks.split_aloha.watering_plants_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.franka.put_the_trash_in_trashcan_part1": [ "images.rgb.head", "images.rgb.hand" ], "sim.long_horizon_tasks.franka.put_the_trash_in_trashcan_part2": [ "images.rgb.head", "images.rgb.hand" ], "sim.long_horizon_tasks.franka.sort_the_trash": [ "images.rgb.head", "images.rgb.hand" ], "sim.long_horizon_tasks.franka.sweep_the_trash": [ "images.rgb.head", "images.rgb.hand" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_brown_cloth_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_brown_cloth_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_sponge_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_sponge_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_white_cloth_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.clean_the_dirt_with_white_cloth_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part1.Task2_v3": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_beef_sandwich_part3": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_ham_sandwich_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.collaborate_assemble_a_ham_sandwich_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.collect_the_glues": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.gather_the_teaboxes": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.microwave_oven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_left_right.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.microwaveoven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.handover_objects_right_left.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_1l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_2l1r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.pack_in_objects.pack_in_objects_2l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_1l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_2l1r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.sort_the_rubbish.Sort_rubbish_2l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.stack_a_beef_sandwich_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.stack_a_beef_sandwich_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.bowl_left_right_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.bowl_right_left_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.left_right_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.stack_multiple_objects.right_left_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part3": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.store_objects_in_the_drawer_part4": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.lift2.sweep_the_trash": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_brown_cloth_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_brown_cloth_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_sponge_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_sponge_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_white_cloth_left_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.clean_the_dirt_with_white_cloth_right_arm": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.collect_the_glues": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.gather_the_teaboxes": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_1l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_2l1r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_in_objects.Pack_objects_2l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_2_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_2_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_3_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.pack_out_objects.Pack_out_3_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_1l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_2l1r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.sort_the_rubbish.Sort_rubbish_2l2r": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.stack_a_beef_sandwich": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.bowl_left_right_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.bowl_right_left_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.left_right_left": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.stack_multiple_objects.right_left_right": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.sweep_the_trash.sweep_1_trash": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.long_horizon_tasks.split_aloha.sweep_the_trash.sweep_2_trash": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.franka.continues_pick_and_place_part1": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.continues_pick_and_place_part2": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.basket": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.basket_top": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.bowl": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.box": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.dish": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.drawing": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.flower_pot": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.microwaveoven": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.pad": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.pan": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part1.projector": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.basket_top": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.bowl": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.box": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.dish": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.drawing": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.flower_pot": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.microwaveoven": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.pad": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.pan": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.multiple_pick_and_place_part2.projector": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-book": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-box": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.google_scan-hat": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-can": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.phocal-spoon": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part1.real-camera": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-book": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-box": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.google_scan-hat": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-can": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.phocal-spoon": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.franka.single_pick_part2.real-camera": [ "images.rgb.head", "images.rgb.hand" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.kettle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_left_arm.teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.kettle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.grasp_functional_part_right_arm.teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.parallel_pick_and_place.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part1.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_left_arm_part2.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part1.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.genie1.single_pick_right_arm_part2.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_left.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.microwaveoven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_left_right.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.microwaveoven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_place_right_right.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.microwaveoven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.parallel_pick_and_placer_ight_left.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_left_arm.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_bus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.lift2.single_pick_right_arm.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.continues_pick_and_place_part1": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.continues_pick_and_place_part2": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.microwaveoven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_left.projector": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.basket_top": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.drawing": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.microwaveoven": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.pad": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_left_right.projector": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_left.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.basket": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.flower_pot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.parallel_pick_and_place_right_right.pan": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pitaya": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_left_arm.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-book": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-handbag": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.google_scan-hat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-asparagus": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-ball": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bamboo_shoots": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-banana": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-battery": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-belt": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bowl": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-box": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-boxed_beverage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-bread": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-calculator": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-candle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-carrot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chicken_leg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chili": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-chinese_chess": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-clock": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-conch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-corn": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cucumber": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-cup": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dinosaur": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-donut": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-dumpling": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-egg": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-egg_tart": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-eraser": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-facial_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-flash_light": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-garage_kit": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-garlic": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-glasses": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-glasses_case": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hair_dryer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hamburger": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hammer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hand_cream": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-hot_dog": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-knife": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lemon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lipstick": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-lotus_root": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mango": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mangosteen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-medicine_bottle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mooncake": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mouse": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-mug": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-onion": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-orange": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pastry": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-peach": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pear": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pen": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pineapple": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-pomegranate": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-power_strip": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-razor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-remote_control": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-rubik_cube": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-sausage": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-scissor": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shampoo": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shoe": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-shrimp": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-soap": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-spanner": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-starfish": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-sweet_potato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-table_tennis_bat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tape_measure": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-teapot": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-timer": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tissue": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tomato": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tooth_brush": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-tooth_paste": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_animals": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_boat": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_car": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_motorcycle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_plane": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_plant": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_train": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-toy_truck": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-umbrella": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-waffle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-watch": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.omniobject3d-whistle": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-can": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-red_wine_glass": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.phocal-spoon": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "sim.pick_and_place_tasks.split_aloha.single_pick_right_arm.real-camera": [ "images.rgb.head", "images.rgb.hand_left", "images.rgb.hand_right" ], "task_327": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_351": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_352": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_354": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_356": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_357": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_358": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_359": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_360": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_361": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_362": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_363": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_365": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_366": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_367": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_368": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_369": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_372": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_373": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_374": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_375": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_376": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_377": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_378": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_384": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_385": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_388": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_389": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_390": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_398": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_410": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_414": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_421": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_422": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_424": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_425": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_428": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_429": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_431": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_433": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_434": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_438": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_440": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_444": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_445": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_446": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_451": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_452": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_453": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_454": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_455": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_460": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_462": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_463": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_464": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_465": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_466": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_468": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_470": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_471": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_474": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_477": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_478": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_480": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_483": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_485": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_486": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_487": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_491": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_492": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_494": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_497": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_498": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_501": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_503": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_504": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_505": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_506": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_507": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_508": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_509": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_510": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_511": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_512": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_515": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_520": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_521": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_522": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_524": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_525": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_527": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_528": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_529": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_532": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_533": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_534": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_535": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_537": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_540": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_541": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_542": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_543": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_544": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_545": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_550": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_551": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_555": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_556": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_558": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_561": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_563": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_566": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_567": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_568": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_570": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_573": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_574": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_575": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_580": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_582": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_584": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_587": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_588": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_589": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_590": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_593": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_596": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_597": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_598": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_599": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_600": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_602": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_603": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_604": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_607": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_609": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_613": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_616": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_619": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_621": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_658": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_664": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_681": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_682": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_683": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_688": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_689": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_692": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_695": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_698": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_707": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_708": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_709": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_711": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_712": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_714": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_715": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_716": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_717": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_719": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_722": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_725": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_726": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_729": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_732": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_734": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_735": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_739": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_740": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_741": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_744": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_748": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_751": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_761": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_762": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_764": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_765": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_773": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_779": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_781": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_782": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_783": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_785": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_786": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "task_787": [ "observation.images.head", "observation.images.hand_left", "observation.images.hand_right" ], "xvla-soft-fold": [ "observation.images.cam_high", "observation.images.cam_left_wrist", "observation.images.cam_right_wrist" ] }, "state_mode": "MEAN_STD", "stats": { "action": { "mean": [ -0.003259909339249134, -0.00016511106514371932, -0.0009170164121314883, 0.0015631786081939936, 0.017809873446822166, 0.007223114371299744, 0.0, 0.0, 0.0, 0.35300761461257935, -0.0002969546476379037, 0.0006943659973330796, -0.0025391371455043554, -0.0005326121463440359, 0.0008874602499417961, -0.0009517972939647734, 0.0, 0.0, 0.0, 0.5396550297737122, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 ], "std": [ 0.04169193655252457, 0.030968327075242996, 0.03630734980106354, 0.15332014858722687, 0.14452211558818817, 0.1084517166018486, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 0.44529905915260315, 0.03818253055214882, 0.03350157290697098, 0.035930223762989044, 0.10963226109743118, 0.13316723704338074, 0.1070888414978981, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 0.448024183511734, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07, 9.999999974752427e-07 ] } } } }