{
  "train": {
    "PushCube-v1": {
      "description": "Push the cube across the tabletop until its center lies inside the target region.",
      "language_vector_index": 0,
      "camera": "render_camera"
    },
    "StackCube-v1": {
      "description": "Pick up cube A, place it stably on top of cube B, and release it without knocking the stack over.",
      "language_vector_index": 1,
      "camera": "render_camera"
    },
    "PickCube-ball": {
      "description": "Pick up the tennis ball and place it at the target.",
      "language_vector_index": 2,
      "camera": "render_camera"
    },
    "PullCube-block": {
      "description": "Pull the wooden block into the target region.",
      "language_vector_index": 3,
      "camera": "render_camera"
    },
    "PlugCharger-v1": {
      "description": "Pick up the charger, align its plug with the receptacle, and insert it fully.",
      "language_vector_index": 4,
      "camera": "render_camera"
    },
    "PullCubeTool-golf": {
      "description": "Use the L-shaped tool to pull the golf ball into the reachable target region.",
      "language_vector_index": 5,
      "camera": "render_camera"
    },
    "PegInsertionSide-v1": {
      "description": "Pick up the peg, align its head with the side-facing hole, and insert it into the box.",
      "language_vector_index": 6,
      "camera": "render_camera"
    },
    "PegInsertionVertical-v1": {
      "description": "Insert the peg vertically into the target hole.",
      "language_vector_index": 7,
      "camera": "render_camera"
    },
    "UprightStack-v1": {
      "description": "Stand the brick upright and stack it on the red cube.",
      "language_vector_index": 8,
      "camera": "render_camera"
    },
    "PlaceSphere-v1": {
      "description": "Place the blue sphere into the white bin.",
      "language_vector_index": 9,
      "camera": "render_camera"
    },
    "StackPyramid-v1": {
      "description": "Stack the blue cube on top of the red and green cubes.",
      "language_vector_index": 10,
      "camera": "render_camera"
    },
    "PutSpoonOnTableClothInScene-v1": {
      "description": "Pick up the spoon and place it on the table cloth.",
      "language_vector_index": 11,
      "camera": "render_camera",
      "source_camera": "3rd_view_camera"
    }
  },
  "test_ind": {
    "PushCube-v1": {
      "description": "Push the cube across the tabletop until its center lies inside the target region.",
      "language_vector_index": 0,
      "camera": "render_camera"
    },
    "StackCube-v1": {
      "description": "Pick up cube A, place it stably on top of cube B, and release it without knocking the stack over.",
      "language_vector_index": 1,
      "camera": "render_camera"
    },
    "PickCube-ball": {
      "description": "Pick up the tennis ball and place it at the target.",
      "language_vector_index": 2,
      "camera": "render_camera"
    },
    "PullCube-block": {
      "description": "Pull the wooden block into the target region.",
      "language_vector_index": 3,
      "camera": "render_camera"
    },
    "PlugCharger-v1": {
      "description": "Pick up the charger, align its plug with the receptacle, and insert it fully.",
      "language_vector_index": 4,
      "camera": "render_camera"
    },
    "PullCubeTool-golf": {
      "description": "Use the L-shaped tool to pull the golf ball into the reachable target region.",
      "language_vector_index": 5,
      "camera": "render_camera"
    },
    "PegInsertionSide-v1": {
      "description": "Pick up the peg, align its head with the side-facing hole, and insert it into the box.",
      "language_vector_index": 6,
      "camera": "render_camera"
    },
    "PegInsertionVertical-v1": {
      "description": "Insert the peg vertically into the target hole.",
      "language_vector_index": 7,
      "camera": "render_camera"
    },
    "UprightStack-v1": {
      "description": "Stand the brick upright and stack it on the red cube.",
      "language_vector_index": 8,
      "camera": "render_camera"
    },
    "PlaceSphere-v1": {
      "description": "Place the blue sphere into the white bin.",
      "language_vector_index": 9,
      "camera": "render_camera"
    },
    "StackPyramid-v1": {
      "description": "Stack the blue cube on top of the red and green cubes.",
      "language_vector_index": 10,
      "camera": "render_camera"
    },
    "PutSpoonOnTableClothInScene-v1": {
      "description": "Pick up the spoon and place it on the table cloth.",
      "language_vector_index": 11,
      "camera": "render_camera",
      "source_camera": "3rd_view_camera"
    }
  },
  "test_ood": {
    "PokeCubeWristCam-v1_OOD": {
      "description": "Poke the red cube with the peg and push it into the marked target region.",
      "split": "OOD"
    },
    "PushCube-cup_OOD": {
      "description": "Push the cup across the tabletop until its center lies inside the target region.",
      "split": "OOD"
    },
    "PutEggplantInBasketScene-v1_OOD": {
      "description": "Pick up the eggplant and place it into the yellow basket.",
      "split": "OOD"
    },
    "StackCube-orangebowl_OOD": {
      "description": "Stack the orange on top of the bowl.",
      "split": "OOD"
    }
  }
}