{
  "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"
  }
}
