Create tasks_metaworld.json

tasks_metaworld.json

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+{
+  "TASK_DESCRIPTIONS": {
+    "assembly-v3": "Pick up a nut and place it onto a peg",
+    "basketball-v3": "Dunk the basketball into the basket",
+    "bin-picking-v3": "Grasp the puck from one bin and place it into another bin",
+    "box-close-v3": "Grasp the cover and close the box with it",
+    "button-press-topdown-v3": "Press a button from the top",
+    "button-press-topdown-wall-v3": "Bypass a wall and press a button from the top",
+    "button-press-v3": "Press a button",
+    "button-press-wall-v3": "Bypass a wall and press a button",
+    "coffee-button-v3": "Push a button on the coffee machine",
+    "coffee-pull-v3": "Pull a mug from a coffee machine",
+    "coffee-push-v3": "Push a mug under a coffee machine",
+    "dial-turn-v3": "Rotate a dial 180 degrees",
+    "disassemble-v3": "Pick a nut out of a peg",
+    "door-close-v3": "Close a door with a revolving joint",
+    "door-lock-v3": "Lock the door by rotating the lock clockwise",
+    "door-open-v3": "Open a door with a revolving joint",
+    "door-unlock-v3": "Unlock the door by rotating the lock counter-clockwise",
+    "hand-insert-v3": "Insert the gripper into a hole",
+    "drawer-close-v3": "Push and close a drawer",
+    "drawer-open-v3": "Open a drawer",
+    "faucet-open-v3": "Rotate the faucet counter-clockwise",
+    "faucet-close-v3": "Rotate the faucet clockwise",
+    "hammer-v3": "Hammer a screw on the wall",
+    "handle-press-side-v3": "Press a handle down sideways",
+    "handle-press-v3": "Press a handle down",
+    "handle-pull-side-v3": "Pull a handle up sideways",
+    "handle-pull-v3": "Pull a handle up",
+    "lever-pull-v3": "Pull a lever down 90 degrees",
+    "peg-insert-side-v3": "Insert a peg sideways",
+    "pick-place-wall-v3": "Pick a puck, bypass a wall and place the puck",
+    "pick-out-of-hole-v3": "Pick up a puck from a hole",
+    "reach-v3": "Reach a goal position",
+    "push-back-v3": "Push the puck to a goal",
+    "push-v3": "Push the puck to a goal",
+    "pick-place-v3": "Pick and place a puck to a goal",
+    "plate-slide-v3": "Slide a plate into a cabinet",
+    "plate-slide-side-v3": "Slide a plate into a cabinet sideways",
+    "plate-slide-back-v3": "Get a plate from the cabinet",
+    "plate-slide-back-side-v3": "Get a plate from the cabinet sideways",
+    "peg-unplug-side-v3": "Unplug a peg sideways",
+    "soccer-v3": "Kick a soccer into the goal",
+    "stick-push-v3": "Grasp a stick and push a box using the stick",
+    "stick-pull-v3": "Grasp a stick and pull a box with the stick",
+    "push-wall-v3": "Bypass a wall and push a puck to a goal",
+    "reach-wall-v3": "Bypass a wall and reach a goal",
+    "shelf-place-v3": "Pick and place a puck onto a shelf",
+    "sweep-into-v3": "Sweep a puck into a hole",
+    "sweep-v3": "Sweep a puck off the table",
+    "window-open-v3": "Push and open a window",
+    "window-close-v3": "Push and close a window"
+  },
+
+  "TASK_NAME_TO_ID": {
+    "assembly-v3": 0,
+    "basketball-v3": 1,
+    "bin-picking-v3": 2,
+    "box-close-v3": 3,
+    "button-press-topdown-v3": 4,
+    "button-press-topdown-wall-v3": 5,
+    "button-press-v3": 6,
+    "button-press-wall-v3": 7,
+    "coffee-button-v3": 8,
+    "coffee-pull-v3": 9,
+    "coffee-push-v3": 10,
+    "dial-turn-v3": 11,
+    "disassemble-v3": 12,
+    "door-close-v3": 13,
+    "door-lock-v3": 14,
+    "door-open-v3": 15,
+    "door-unlock-v3": 16,
+    "drawer-close-v3": 17,
+    "drawer-open-v3": 18,
+    "faucet-close-v3": 19,
+    "faucet-open-v3": 20,
+    "hammer-v3": 21,
+    "hand-insert-v3": 22,
+    "handle-press-side-v3": 23,
+    "handle-press-v3": 24,
+    "handle-pull-side-v3": 25,
+    "handle-pull-v3": 26,
+    "lever-pull-v3": 27,
+    "peg-insert-side-v3": 28,
+    "peg-unplug-side-v3": 29,
+    "pick-out-of-hole-v3": 30,
+    "pick-place-v3": 31,
+    "pick-place-wall-v3": 32,
+    "plate-slide-back-side-v3": 33,
+    "plate-slide-back-v3": 34,
+    "plate-slide-side-v3": 35,
+    "plate-slide-v3": 36,
+    "push-back-v3": 37,
+    "push-v3": 38,
+    "push-wall-v3": 39,
+    "reach-v3": 40,
+    "reach-wall-v3": 41,
+    "shelf-place-v3": 42,
+    "soccer-v3": 43,
+    "stick-pull-v3": 44,
+    "stick-push-v3": 45,
+    "sweep-into-v3": 46,
+    "sweep-v3": 47,
+    "window-open-v3": 48,
+    "window-close-v3": 49
+  },
+
+  "DIFFICULTY_TO_TASKS": {
+    "easy": [
+      "button-press-v3",
+      "button-press-topdown-v3",
+      "button-press-topdown-wall-v3",
+      "button-press-wall-v3",
+      "coffee-button-v3",
+      "dial-turn-v3",
+      "door-close-v3",
+      "door-lock-v3",
+      "door-open-v3",
+      "door-unlock-v3",
+      "drawer-close-v3",
+      "drawer-open-v3",
+      "faucet-close-v3",
+      "faucet-open-v3",
+      "handle-press-v3",
+      "handle-press-side-v3",
+      "handle-pull-v3",
+      "handle-pull-side-v3",
+      "lever-pull-v3",
+      "plate-slide-v3",
+      "plate-slide-back-v3",
+      "plate-slide-back-side-v3",
+      "plate-slide-side-v3",
+      "reach-v3",
+      "reach-wall-v3",
+      "window-close-v3",
+      "window-open-v3",
+      "peg-unplug-side-v3"
+    ],
+    "medium": [
+      "basketball-v3",
+      "bin-picking-v3",
+      "box-close-v3",
+      "coffee-pull-v3",
+      "coffee-push-v3",
+      "hammer-v3",
+      "peg-insert-side-v3",
+      "push-wall-v3",
+      "soccer-v3",
+      "sweep-v3",
+      "sweep-into-v3"
+    ],
+    "hard": [
+      "assembly-v3",
+      "hand-insert-v3",
+      "pick-out-of-hole-v3",
+      "pick-place-v3",
+      "push-v3",
+      "push-back-v3"
+    ],
+    "very_hard": [
+      "shelf-place-v3",
+      "disassemble-v3",
+      "stick-pull-v3",
+      "stick-push-v3",
+      "pick-place-wall-v3"
+    ]
+  },
+
+  "TASK_POLICY_MAPPING": {
+    "assembly-v3": "SawyerAssemblyV3Policy",
+    "basketball-v3": "SawyerBasketballV3Policy",
+    "bin-picking-v3": "SawyerBinPickingV3Policy",
+    "box-close-v3": "SawyerBoxCloseV3Policy",
+    "button-press-topdown-v3": "SawyerButtonPressTopdownV3Policy",
+    "button-press-topdown-wall-v3": "SawyerButtonPressTopdownWallV3Policy",
+    "button-press-v3": "SawyerButtonPressV3Policy",
+    "button-press-wall-v3": "SawyerButtonPressWallV3Policy",
+    "coffee-button-v3": "SawyerCoffeeButtonV3Policy",
+    "coffee-pull-v3": "SawyerCoffeePullV3Policy",
+    "coffee-push-v3": "SawyerCoffeePushV3Policy",
+    "dial-turn-v3": "SawyerDialTurnV3Policy",
+    "disassemble-v3": "SawyerDisassembleV3Policy",
+    "door-close-v3": "SawyerDoorCloseV3Policy",
+    "door-lock-v3": "SawyerDoorLockV3Policy",
+    "door-open-v3": "SawyerDoorOpenV3Policy",
+    "door-unlock-v3": "SawyerDoorUnlockV3Policy",
+    "drawer-close-v3": "SawyerDrawerCloseV3Policy",
+    "drawer-open-v3": "SawyerDrawerOpenV3Policy",
+    "faucet-close-v3": "SawyerFaucetCloseV3Policy",
+    "faucet-open-v3": "SawyerFaucetOpenV3Policy",
+    "hammer-v3": "SawyerHammerV3Policy",
+    "hand-insert-v3": "SawyerHandInsertV3Policy",
+    "handle-press-side-v3": "SawyerHandlePressSideV3Policy",
+    "handle-press-v3": "SawyerHandlePressV3Policy",
+    "handle-pull-side-v3": "SawyerHandlePullSideV3Policy",
+    "handle-pull-v3": "SawyerHandlePullV3Policy",
+    "lever-pull-v3": "SawyerLeverPullV3Policy",
+    "peg-insert-side-v3": "SawyerPegInsertionSideV3Policy",
+    "peg-unplug-side-v3": "SawyerPegUnplugSideV3Policy",
+    "pick-out-of-hole-v3": "SawyerPickOutOfHoleV3Policy",
+    "pick-place-v3": "SawyerPickPlaceV3Policy",
+    "pick-place-wall-v3": "SawyerPickPlaceWallV3Policy",
+    "plate-slide-back-side-v3": "SawyerPlateSlideBackSideV3Policy",
+    "plate-slide-back-v3": "SawyerPlateSlideBackV3Policy",
+    "plate-slide-side-v3": "SawyerPlateSlideSideV3Policy",
+    "plate-slide-v3": "SawyerPlateSlideV3Policy",
+    "push-back-v3": "SawyerPushBackV3Policy",
+    "push-v3": "SawyerPushV3Policy",
+    "push-wall-v3": "SawyerPushWallV3Policy",
+    "reach-v3": "SawyerReachV3Policy",
+    "reach-wall-v3": "SawyerReachWallV3Policy",
+    "shelf-place-v3": "SawyerShelfPlaceV3Policy",
+    "soccer-v3": "SawyerSoccerV3Policy",
+    "stick-pull-v3": "SawyerStickPullV3Policy",
+    "stick-push-v3": "SawyerStickPushV3Policy",
+    "sweep-into-v3": "SawyerSweepIntoV3Policy",
+    "sweep-v3": "SawyerSweepV3Policy",
+    "window-open-v3": "SawyerWindowOpenV3Policy",
+    "window-close-v3": "SawyerWindowCloseV3Policy"
+  }
+}