| libero_task_map = { | |
| "libero_spatial": [ | |
| "pick_up_the_black_bowl_between_the_plate_and_the_ramekin_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_next_to_the_ramekin_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_from_table_center_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_on_the_cookie_box_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_in_the_top_drawer_of_the_wooden_cabinet_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_on_the_ramekin_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_next_to_the_cookie_box_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_on_the_stove_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_next_to_the_plate_and_place_it_on_the_plate", | |
| "pick_up_the_black_bowl_on_the_wooden_cabinet_and_place_it_on_the_plate", | |
| ], | |
| "libero_object": [ | |
| "pick_up_the_alphabet_soup_and_place_it_in_the_basket", | |
| "pick_up_the_cream_cheese_and_place_it_in_the_basket", | |
| "pick_up_the_salad_dressing_and_place_it_in_the_basket", | |
| "pick_up_the_bbq_sauce_and_place_it_in_the_basket", | |
| "pick_up_the_ketchup_and_place_it_in_the_basket", | |
| "pick_up_the_tomato_sauce_and_place_it_in_the_basket", | |
| "pick_up_the_butter_and_place_it_in_the_basket", | |
| "pick_up_the_milk_and_place_it_in_the_basket", | |
| "pick_up_the_chocolate_pudding_and_place_it_in_the_basket", | |
| "pick_up_the_orange_juice_and_place_it_in_the_basket", | |
| ], | |
| "libero_goal": [ | |
| "open_the_middle_drawer_of_the_cabinet", | |
| "put_the_bowl_on_the_stove", | |
| "put_the_wine_bottle_on_top_of_the_cabinet", | |
| "open_the_top_drawer_and_put_the_bowl_inside", | |
| "put_the_bowl_on_top_of_the_cabinet", | |
| "push_the_plate_to_the_front_of_the_stove", | |
| "put_the_cream_cheese_in_the_bowl", | |
| "turn_on_the_stove", | |
| "put_the_bowl_on_the_plate", | |
| "put_the_wine_bottle_on_the_rack", | |
| ], | |
| "libero_10": [ | |
| "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket", | |
| "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket", | |
| "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it", | |
| "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it", | |
| "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate", | |
| "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", | |
| "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate", | |
| "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket", | |
| "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove", | |
| "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it", | |
| ], | |
| "libero_90": [ | |
| "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it", | |
| "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it", | |
| "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it", | |
| "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it", | |
| "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it", | |
| "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate", | |
| "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet", | |
| "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate", | |
| "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate", | |
| "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate", | |
| "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet", | |
| "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle", | |
| "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl", | |
| "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove", | |
| "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove", | |
| "KITCHEN_SCENE3_turn_on_the_stove", | |
| "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it", | |
| "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer", | |
| "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet", | |
| "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack", | |
| "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate", | |
| "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet", | |
| "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet", | |
| "KITCHEN_SCENE6_close_the_microwave", | |
| "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug", | |
| "KITCHEN_SCENE7_open_the_microwave", | |
| "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate", | |
| "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate", | |
| "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove", | |
| "KITCHEN_SCENE8_turn_off_the_stove", | |
| "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf", | |
| "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet", | |
| "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf", | |
| "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet", | |
| "KITCHEN_SCENE9_turn_on_the_stove", | |
| "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it", | |
| "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket", | |
| "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray", | |
| "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray", | |
| "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray", | |
| "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate", | |
| "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate", | |
| "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate", | |
| "LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate", | |
| "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate", | |
| "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate", | |
| "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate", | |
| "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate", | |
| "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy", | |
| "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy", | |
| "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy", | |
| "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy", | |
| "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy", | |
| "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy", | |
| "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy", | |
| "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy", | |
| "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy", | |
| "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy", | |
| "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy", | |
| "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy", | |
| "STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy", | |
| "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf", | |
| "STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf", | |
| "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf", | |
| "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf", | |
| ], | |
| } | |