Hugging Face's logo

Datasets:
hellxhell
/
phaseforge-cache

Dataset card Files
xet
 Community
hellxhell commited on
Commit
1dffa5c
·
verified ·
1 Parent(s): 761c19c

Upload object_index.json

Browse files
Files changed (1) hide show
  1. data/object_index.json +2860 -0
data/object_index.json ADDED
@@ -0,0 +1,2860 @@
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
+ {
2
+ "version": 1,
3
+ "k_slots": 8,
4
+ "dim_per_object": 7,
5
+ "include_mask": true,
6
+ "tasks": {
7
+ "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it": {
8
+ "nq": 40,
9
+ "qpos_offset": 1,
10
+ "objects": [
11
+ {
12
+ "name": "akita_black_bowl_1",
13
+ "joint_type": "free",
14
+ "qpos_start": 9,
15
+ "qpos_len": 7
16
+ },
17
+ {
18
+ "name": "butter_1",
19
+ "joint_type": "free",
20
+ "qpos_start": 16,
21
+ "qpos_len": 7
22
+ },
23
+ {
24
+ "name": "butter_2",
25
+ "joint_type": "free",
26
+ "qpos_start": 23,
27
+ "qpos_len": 7
28
+ },
29
+ {
30
+ "name": "chocolate_pudding_1",
31
+ "joint_type": "free",
32
+ "qpos_start": 30,
33
+ "qpos_len": 7
34
+ }
35
+ ]
36
+ },
37
+ "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet": {
38
+ "nq": 40,
39
+ "qpos_offset": 1,
40
+ "objects": [
41
+ {
42
+ "name": "akita_black_bowl_1",
43
+ "joint_type": "free",
44
+ "qpos_start": 9,
45
+ "qpos_len": 7
46
+ },
47
+ {
48
+ "name": "butter_1",
49
+ "joint_type": "free",
50
+ "qpos_start": 16,
51
+ "qpos_len": 7
52
+ },
53
+ {
54
+ "name": "butter_2",
55
+ "joint_type": "free",
56
+ "qpos_start": 23,
57
+ "qpos_len": 7
58
+ },
59
+ {
60
+ "name": "chocolate_pudding_1",
61
+ "joint_type": "free",
62
+ "qpos_start": 30,
63
+ "qpos_len": 7
64
+ }
65
+ ]
66
+ },
67
+ "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet": {
68
+ "nq": 40,
69
+ "qpos_offset": 1,
70
+ "objects": [
71
+ {
72
+ "name": "akita_black_bowl_1",
73
+ "joint_type": "free",
74
+ "qpos_start": 9,
75
+ "qpos_len": 7
76
+ },
77
+ {
78
+ "name": "butter_1",
79
+ "joint_type": "free",
80
+ "qpos_start": 16,
81
+ "qpos_len": 7
82
+ },
83
+ {
84
+ "name": "butter_2",
85
+ "joint_type": "free",
86
+ "qpos_start": 23,
87
+ "qpos_len": 7
88
+ },
89
+ {
90
+ "name": "chocolate_pudding_1",
91
+ "joint_type": "free",
92
+ "qpos_start": 30,
93
+ "qpos_len": 7
94
+ }
95
+ ]
96
+ },
97
+ "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it": {
98
+ "nq": 40,
99
+ "qpos_offset": 1,
100
+ "objects": [
101
+ {
102
+ "name": "akita_black_bowl_1",
103
+ "joint_type": "free",
104
+ "qpos_start": 9,
105
+ "qpos_len": 7
106
+ },
107
+ {
108
+ "name": "butter_1",
109
+ "joint_type": "free",
110
+ "qpos_start": 16,
111
+ "qpos_len": 7
112
+ },
113
+ {
114
+ "name": "butter_2",
115
+ "joint_type": "free",
116
+ "qpos_start": 23,
117
+ "qpos_len": 7
118
+ },
119
+ {
120
+ "name": "chocolate_pudding_1",
121
+ "joint_type": "free",
122
+ "qpos_start": 30,
123
+ "qpos_len": 7
124
+ }
125
+ ]
126
+ },
127
+ "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it": {
128
+ "nq": 40,
129
+ "qpos_offset": 1,
130
+ "objects": [
131
+ {
132
+ "name": "akita_black_bowl_1",
133
+ "joint_type": "free",
134
+ "qpos_start": 9,
135
+ "qpos_len": 7
136
+ },
137
+ {
138
+ "name": "butter_1",
139
+ "joint_type": "free",
140
+ "qpos_start": 16,
141
+ "qpos_len": 7
142
+ },
143
+ {
144
+ "name": "butter_2",
145
+ "joint_type": "free",
146
+ "qpos_start": 23,
147
+ "qpos_len": 7
148
+ },
149
+ {
150
+ "name": "chocolate_pudding_1",
151
+ "joint_type": "free",
152
+ "qpos_start": 30,
153
+ "qpos_len": 7
154
+ }
155
+ ]
156
+ },
157
+ "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it": {
158
+ "nq": 40,
159
+ "qpos_offset": 1,
160
+ "objects": [
161
+ {
162
+ "name": "akita_black_bowl_1",
163
+ "joint_type": "free",
164
+ "qpos_start": 9,
165
+ "qpos_len": 7
166
+ },
167
+ {
168
+ "name": "butter_1",
169
+ "joint_type": "free",
170
+ "qpos_start": 16,
171
+ "qpos_len": 7
172
+ },
173
+ {
174
+ "name": "butter_2",
175
+ "joint_type": "free",
176
+ "qpos_start": 23,
177
+ "qpos_len": 7
178
+ },
179
+ {
180
+ "name": "chocolate_pudding_1",
181
+ "joint_type": "free",
182
+ "qpos_start": 30,
183
+ "qpos_len": 7
184
+ }
185
+ ]
186
+ },
187
+ "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet": {
188
+ "nq": 26,
189
+ "qpos_offset": 1,
190
+ "objects": [
191
+ {
192
+ "name": "akita_black_bowl_1",
193
+ "joint_type": "free",
194
+ "qpos_start": 9,
195
+ "qpos_len": 7
196
+ },
197
+ {
198
+ "name": "plate_1",
199
+ "joint_type": "free",
200
+ "qpos_start": 16,
201
+ "qpos_len": 7
202
+ }
203
+ ]
204
+ },
205
+ "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it": {
206
+ "nq": 26,
207
+ "qpos_offset": 1,
208
+ "objects": [
209
+ {
210
+ "name": "akita_black_bowl_1",
211
+ "joint_type": "free",
212
+ "qpos_start": 9,
213
+ "qpos_len": 7
214
+ },
215
+ {
216
+ "name": "plate_1",
217
+ "joint_type": "free",
218
+ "qpos_start": 16,
219
+ "qpos_len": 7
220
+ }
221
+ ]
222
+ },
223
+ "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet": {
224
+ "nq": 26,
225
+ "qpos_offset": 1,
226
+ "objects": [
227
+ {
228
+ "name": "akita_black_bowl_1",
229
+ "joint_type": "free",
230
+ "qpos_start": 9,
231
+ "qpos_len": 7
232
+ },
233
+ {
234
+ "name": "plate_1",
235
+ "joint_type": "free",
236
+ "qpos_start": 16,
237
+ "qpos_len": 7
238
+ }
239
+ ]
240
+ },
241
+ "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate": {
242
+ "nq": 26,
243
+ "qpos_offset": 1,
244
+ "objects": [
245
+ {
246
+ "name": "akita_black_bowl_1",
247
+ "joint_type": "free",
248
+ "qpos_start": 9,
249
+ "qpos_len": 7
250
+ },
251
+ {
252
+ "name": "plate_1",
253
+ "joint_type": "free",
254
+ "qpos_start": 16,
255
+ "qpos_len": 7
256
+ }
257
+ ]
258
+ },
259
+ "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet": {
260
+ "nq": 26,
261
+ "qpos_offset": 1,
262
+ "objects": [
263
+ {
264
+ "name": "akita_black_bowl_1",
265
+ "joint_type": "free",
266
+ "qpos_start": 9,
267
+ "qpos_len": 7
268
+ },
269
+ {
270
+ "name": "plate_1",
271
+ "joint_type": "free",
272
+ "qpos_start": 16,
273
+ "qpos_len": 7
274
+ }
275
+ ]
276
+ },
277
+ "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet": {
278
+ "nq": 40,
279
+ "qpos_offset": 1,
280
+ "objects": [
281
+ {
282
+ "name": "akita_black_bowl_1",
283
+ "joint_type": "free",
284
+ "qpos_start": 9,
285
+ "qpos_len": 7
286
+ },
287
+ {
288
+ "name": "akita_black_bowl_2",
289
+ "joint_type": "free",
290
+ "qpos_start": 16,
291
+ "qpos_len": 7
292
+ },
293
+ {
294
+ "name": "akita_black_bowl_3",
295
+ "joint_type": "free",
296
+ "qpos_start": 23,
297
+ "qpos_len": 7
298
+ },
299
+ {
300
+ "name": "plate_1",
301
+ "joint_type": "free",
302
+ "qpos_start": 30,
303
+ "qpos_len": 7
304
+ }
305
+ ]
306
+ },
307
+ "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate": {
308
+ "nq": 40,
309
+ "qpos_offset": 1,
310
+ "objects": [
311
+ {
312
+ "name": "akita_black_bowl_1",
313
+ "joint_type": "free",
314
+ "qpos_start": 9,
315
+ "qpos_len": 7
316
+ },
317
+ {
318
+ "name": "akita_black_bowl_2",
319
+ "joint_type": "free",
320
+ "qpos_start": 16,
321
+ "qpos_len": 7
322
+ },
323
+ {
324
+ "name": "akita_black_bowl_3",
325
+ "joint_type": "free",
326
+ "qpos_start": 23,
327
+ "qpos_len": 7
328
+ },
329
+ {
330
+ "name": "plate_1",
331
+ "joint_type": "free",
332
+ "qpos_start": 30,
333
+ "qpos_len": 7
334
+ }
335
+ ]
336
+ },
337
+ "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate": {
338
+ "nq": 40,
339
+ "qpos_offset": 1,
340
+ "objects": [
341
+ {
342
+ "name": "akita_black_bowl_1",
343
+ "joint_type": "free",
344
+ "qpos_start": 9,
345
+ "qpos_len": 7
346
+ },
347
+ {
348
+ "name": "akita_black_bowl_2",
349
+ "joint_type": "free",
350
+ "qpos_start": 16,
351
+ "qpos_len": 7
352
+ },
353
+ {
354
+ "name": "akita_black_bowl_3",
355
+ "joint_type": "free",
356
+ "qpos_start": 23,
357
+ "qpos_len": 7
358
+ },
359
+ {
360
+ "name": "plate_1",
361
+ "joint_type": "free",
362
+ "qpos_start": 30,
363
+ "qpos_len": 7
364
+ }
365
+ ]
366
+ },
367
+ "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate": {
368
+ "nq": 40,
369
+ "qpos_offset": 1,
370
+ "objects": [
371
+ {
372
+ "name": "akita_black_bowl_1",
373
+ "joint_type": "free",
374
+ "qpos_start": 9,
375
+ "qpos_len": 7
376
+ },
377
+ {
378
+ "name": "akita_black_bowl_2",
379
+ "joint_type": "free",
380
+ "qpos_start": 16,
381
+ "qpos_len": 7
382
+ },
383
+ {
384
+ "name": "akita_black_bowl_3",
385
+ "joint_type": "free",
386
+ "qpos_start": 23,
387
+ "qpos_len": 7
388
+ },
389
+ {
390
+ "name": "plate_1",
391
+ "joint_type": "free",
392
+ "qpos_start": 30,
393
+ "qpos_len": 7
394
+ }
395
+ ]
396
+ },
397
+ "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet": {
398
+ "nq": 40,
399
+ "qpos_offset": 1,
400
+ "objects": [
401
+ {
402
+ "name": "akita_black_bowl_1",
403
+ "joint_type": "free",
404
+ "qpos_start": 9,
405
+ "qpos_len": 7
406
+ },
407
+ {
408
+ "name": "akita_black_bowl_2",
409
+ "joint_type": "free",
410
+ "qpos_start": 16,
411
+ "qpos_len": 7
412
+ },
413
+ {
414
+ "name": "akita_black_bowl_3",
415
+ "joint_type": "free",
416
+ "qpos_start": 23,
417
+ "qpos_len": 7
418
+ },
419
+ {
420
+ "name": "plate_1",
421
+ "joint_type": "free",
422
+ "qpos_start": 30,
423
+ "qpos_len": 7
424
+ }
425
+ ]
426
+ },
427
+ "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle": {
428
+ "nq": 40,
429
+ "qpos_offset": 1,
430
+ "objects": [
431
+ {
432
+ "name": "akita_black_bowl_1",
433
+ "joint_type": "free",
434
+ "qpos_start": 9,
435
+ "qpos_len": 7
436
+ },
437
+ {
438
+ "name": "akita_black_bowl_2",
439
+ "joint_type": "free",
440
+ "qpos_start": 16,
441
+ "qpos_len": 7
442
+ },
443
+ {
444
+ "name": "akita_black_bowl_3",
445
+ "joint_type": "free",
446
+ "qpos_start": 23,
447
+ "qpos_len": 7
448
+ },
449
+ {
450
+ "name": "plate_1",
451
+ "joint_type": "free",
452
+ "qpos_start": 30,
453
+ "qpos_len": 7
454
+ }
455
+ ]
456
+ },
457
+ "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl": {
458
+ "nq": 40,
459
+ "qpos_offset": 1,
460
+ "objects": [
461
+ {
462
+ "name": "akita_black_bowl_1",
463
+ "joint_type": "free",
464
+ "qpos_start": 9,
465
+ "qpos_len": 7
466
+ },
467
+ {
468
+ "name": "akita_black_bowl_2",
469
+ "joint_type": "free",
470
+ "qpos_start": 16,
471
+ "qpos_len": 7
472
+ },
473
+ {
474
+ "name": "akita_black_bowl_3",
475
+ "joint_type": "free",
476
+ "qpos_start": 23,
477
+ "qpos_len": 7
478
+ },
479
+ {
480
+ "name": "plate_1",
481
+ "joint_type": "free",
482
+ "qpos_start": 30,
483
+ "qpos_len": 7
484
+ }
485
+ ]
486
+ },
487
+ "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove": {
488
+ "nq": 24,
489
+ "qpos_offset": 1,
490
+ "objects": [
491
+ {
492
+ "name": "chefmate_8_frypan_1",
493
+ "joint_type": "free",
494
+ "qpos_start": 9,
495
+ "qpos_len": 7
496
+ },
497
+ {
498
+ "name": "moka_pot_1",
499
+ "joint_type": "free",
500
+ "qpos_start": 16,
501
+ "qpos_len": 7
502
+ }
503
+ ]
504
+ },
505
+ "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove": {
506
+ "nq": 24,
507
+ "qpos_offset": 1,
508
+ "objects": [
509
+ {
510
+ "name": "chefmate_8_frypan_1",
511
+ "joint_type": "free",
512
+ "qpos_start": 9,
513
+ "qpos_len": 7
514
+ },
515
+ {
516
+ "name": "moka_pot_1",
517
+ "joint_type": "free",
518
+ "qpos_start": 16,
519
+ "qpos_len": 7
520
+ }
521
+ ]
522
+ },
523
+ "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it": {
524
+ "nq": 24,
525
+ "qpos_offset": 1,
526
+ "objects": [
527
+ {
528
+ "name": "chefmate_8_frypan_1",
529
+ "joint_type": "free",
530
+ "qpos_start": 9,
531
+ "qpos_len": 7
532
+ },
533
+ {
534
+ "name": "moka_pot_1",
535
+ "joint_type": "free",
536
+ "qpos_start": 16,
537
+ "qpos_len": 7
538
+ }
539
+ ]
540
+ },
541
+ "KITCHEN_SCENE3_turn_on_the_stove": {
542
+ "nq": 24,
543
+ "qpos_offset": 1,
544
+ "objects": [
545
+ {
546
+ "name": "chefmate_8_frypan_1",
547
+ "joint_type": "free",
548
+ "qpos_start": 9,
549
+ "qpos_len": 7
550
+ },
551
+ {
552
+ "name": "moka_pot_1",
553
+ "joint_type": "free",
554
+ "qpos_start": 16,
555
+ "qpos_len": 7
556
+ }
557
+ ]
558
+ },
559
+ "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer": {
560
+ "nq": 26,
561
+ "qpos_offset": 1,
562
+ "objects": [
563
+ {
564
+ "name": "akita_black_bowl_1",
565
+ "joint_type": "free",
566
+ "qpos_start": 9,
567
+ "qpos_len": 7
568
+ },
569
+ {
570
+ "name": "wine_bottle_1",
571
+ "joint_type": "free",
572
+ "qpos_start": 16,
573
+ "qpos_len": 7
574
+ }
575
+ ]
576
+ },
577
+ "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet": {
578
+ "nq": 26,
579
+ "qpos_offset": 1,
580
+ "objects": [
581
+ {
582
+ "name": "akita_black_bowl_1",
583
+ "joint_type": "free",
584
+ "qpos_start": 9,
585
+ "qpos_len": 7
586
+ },
587
+ {
588
+ "name": "wine_bottle_1",
589
+ "joint_type": "free",
590
+ "qpos_start": 16,
591
+ "qpos_len": 7
592
+ }
593
+ ]
594
+ },
595
+ "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet": {
596
+ "nq": 26,
597
+ "qpos_offset": 1,
598
+ "objects": [
599
+ {
600
+ "name": "akita_black_bowl_1",
601
+ "joint_type": "free",
602
+ "qpos_start": 9,
603
+ "qpos_len": 7
604
+ },
605
+ {
606
+ "name": "wine_bottle_1",
607
+ "joint_type": "free",
608
+ "qpos_start": 16,
609
+ "qpos_len": 7
610
+ }
611
+ ]
612
+ },
613
+ "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet": {
614
+ "nq": 26,
615
+ "qpos_offset": 1,
616
+ "objects": [
617
+ {
618
+ "name": "akita_black_bowl_1",
619
+ "joint_type": "free",
620
+ "qpos_start": 9,
621
+ "qpos_len": 7
622
+ },
623
+ {
624
+ "name": "wine_bottle_1",
625
+ "joint_type": "free",
626
+ "qpos_start": 16,
627
+ "qpos_len": 7
628
+ }
629
+ ]
630
+ },
631
+ "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet": {
632
+ "nq": 26,
633
+ "qpos_offset": 1,
634
+ "objects": [
635
+ {
636
+ "name": "akita_black_bowl_1",
637
+ "joint_type": "free",
638
+ "qpos_start": 9,
639
+ "qpos_len": 7
640
+ },
641
+ {
642
+ "name": "wine_bottle_1",
643
+ "joint_type": "free",
644
+ "qpos_start": 16,
645
+ "qpos_len": 7
646
+ }
647
+ ]
648
+ },
649
+ "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack": {
650
+ "nq": 26,
651
+ "qpos_offset": 1,
652
+ "objects": [
653
+ {
654
+ "name": "akita_black_bowl_1",
655
+ "joint_type": "free",
656
+ "qpos_start": 9,
657
+ "qpos_len": 7
658
+ },
659
+ {
660
+ "name": "wine_bottle_1",
661
+ "joint_type": "free",
662
+ "qpos_start": 16,
663
+ "qpos_len": 7
664
+ }
665
+ ]
666
+ },
667
+ "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet": {
668
+ "nq": 33,
669
+ "qpos_offset": 1,
670
+ "objects": [
671
+ {
672
+ "name": "akita_black_bowl_1",
673
+ "joint_type": "free",
674
+ "qpos_start": 9,
675
+ "qpos_len": 7
676
+ },
677
+ {
678
+ "name": "ketchup_1",
679
+ "joint_type": "free",
680
+ "qpos_start": 23,
681
+ "qpos_len": 7
682
+ },
683
+ {
684
+ "name": "plate_1",
685
+ "joint_type": "free",
686
+ "qpos_start": 16,
687
+ "qpos_len": 7
688
+ }
689
+ ]
690
+ },
691
+ "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet": {
692
+ "nq": 33,
693
+ "qpos_offset": 1,
694
+ "objects": [
695
+ {
696
+ "name": "akita_black_bowl_1",
697
+ "joint_type": "free",
698
+ "qpos_start": 9,
699
+ "qpos_len": 7
700
+ },
701
+ {
702
+ "name": "ketchup_1",
703
+ "joint_type": "free",
704
+ "qpos_start": 23,
705
+ "qpos_len": 7
706
+ },
707
+ {
708
+ "name": "plate_1",
709
+ "joint_type": "free",
710
+ "qpos_start": 16,
711
+ "qpos_len": 7
712
+ }
713
+ ]
714
+ },
715
+ "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate": {
716
+ "nq": 33,
717
+ "qpos_offset": 1,
718
+ "objects": [
719
+ {
720
+ "name": "akita_black_bowl_1",
721
+ "joint_type": "free",
722
+ "qpos_start": 9,
723
+ "qpos_len": 7
724
+ },
725
+ {
726
+ "name": "ketchup_1",
727
+ "joint_type": "free",
728
+ "qpos_start": 23,
729
+ "qpos_len": 7
730
+ },
731
+ {
732
+ "name": "plate_1",
733
+ "joint_type": "free",
734
+ "qpos_start": 16,
735
+ "qpos_len": 7
736
+ }
737
+ ]
738
+ },
739
+ "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet": {
740
+ "nq": 33,
741
+ "qpos_offset": 1,
742
+ "objects": [
743
+ {
744
+ "name": "akita_black_bowl_1",
745
+ "joint_type": "free",
746
+ "qpos_start": 9,
747
+ "qpos_len": 7
748
+ },
749
+ {
750
+ "name": "ketchup_1",
751
+ "joint_type": "free",
752
+ "qpos_start": 23,
753
+ "qpos_len": 7
754
+ },
755
+ {
756
+ "name": "plate_1",
757
+ "joint_type": "free",
758
+ "qpos_start": 16,
759
+ "qpos_len": 7
760
+ }
761
+ ]
762
+ },
763
+ "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet": {
764
+ "nq": 33,
765
+ "qpos_offset": 1,
766
+ "objects": [
767
+ {
768
+ "name": "akita_black_bowl_1",
769
+ "joint_type": "free",
770
+ "qpos_start": 9,
771
+ "qpos_len": 7
772
+ },
773
+ {
774
+ "name": "ketchup_1",
775
+ "joint_type": "free",
776
+ "qpos_start": 23,
777
+ "qpos_len": 7
778
+ },
779
+ {
780
+ "name": "plate_1",
781
+ "joint_type": "free",
782
+ "qpos_start": 16,
783
+ "qpos_len": 7
784
+ }
785
+ ]
786
+ },
787
+ "KITCHEN_SCENE6_close_the_microwave": {
788
+ "nq": 24,
789
+ "qpos_offset": 1,
790
+ "objects": [
791
+ {
792
+ "name": "porcelain_mug_1",
793
+ "joint_type": "free",
794
+ "qpos_start": 9,
795
+ "qpos_len": 7
796
+ },
797
+ {
798
+ "name": "white_yellow_mug_1",
799
+ "joint_type": "free",
800
+ "qpos_start": 16,
801
+ "qpos_len": 7
802
+ }
803
+ ]
804
+ },
805
+ "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug": {
806
+ "nq": 24,
807
+ "qpos_offset": 1,
808
+ "objects": [
809
+ {
810
+ "name": "porcelain_mug_1",
811
+ "joint_type": "free",
812
+ "qpos_start": 9,
813
+ "qpos_len": 7
814
+ },
815
+ {
816
+ "name": "white_yellow_mug_1",
817
+ "joint_type": "free",
818
+ "qpos_start": 16,
819
+ "qpos_len": 7
820
+ }
821
+ ]
822
+ },
823
+ "KITCHEN_SCENE7_open_the_microwave": {
824
+ "nq": 24,
825
+ "qpos_offset": 1,
826
+ "objects": [
827
+ {
828
+ "name": "plate_1",
829
+ "joint_type": "free",
830
+ "qpos_start": 16,
831
+ "qpos_len": 7
832
+ },
833
+ {
834
+ "name": "white_bowl_1",
835
+ "joint_type": "free",
836
+ "qpos_start": 9,
837
+ "qpos_len": 7
838
+ }
839
+ ]
840
+ },
841
+ "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate": {
842
+ "nq": 24,
843
+ "qpos_offset": 1,
844
+ "objects": [
845
+ {
846
+ "name": "plate_1",
847
+ "joint_type": "free",
848
+ "qpos_start": 16,
849
+ "qpos_len": 7
850
+ },
851
+ {
852
+ "name": "white_bowl_1",
853
+ "joint_type": "free",
854
+ "qpos_start": 9,
855
+ "qpos_len": 7
856
+ }
857
+ ]
858
+ },
859
+ "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate": {
860
+ "nq": 24,
861
+ "qpos_offset": 1,
862
+ "objects": [
863
+ {
864
+ "name": "plate_1",
865
+ "joint_type": "free",
866
+ "qpos_start": 16,
867
+ "qpos_len": 7
868
+ },
869
+ {
870
+ "name": "white_bowl_1",
871
+ "joint_type": "free",
872
+ "qpos_start": 9,
873
+ "qpos_len": 7
874
+ }
875
+ ]
876
+ },
877
+ "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove": {
878
+ "nq": 24,
879
+ "qpos_offset": 1,
880
+ "objects": [
881
+ {
882
+ "name": "moka_pot_1",
883
+ "joint_type": "free",
884
+ "qpos_start": 9,
885
+ "qpos_len": 7
886
+ },
887
+ {
888
+ "name": "moka_pot_2",
889
+ "joint_type": "free",
890
+ "qpos_start": 16,
891
+ "qpos_len": 7
892
+ }
893
+ ]
894
+ },
895
+ "KITCHEN_SCENE8_turn_off_the_stove": {
896
+ "nq": 24,
897
+ "qpos_offset": 1,
898
+ "objects": [
899
+ {
900
+ "name": "moka_pot_1",
901
+ "joint_type": "free",
902
+ "qpos_start": 9,
903
+ "qpos_len": 7
904
+ },
905
+ {
906
+ "name": "moka_pot_2",
907
+ "joint_type": "free",
908
+ "qpos_start": 16,
909
+ "qpos_len": 7
910
+ }
911
+ ]
912
+ },
913
+ "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf": {
914
+ "nq": 24,
915
+ "qpos_offset": 1,
916
+ "objects": [
917
+ {
918
+ "name": "chefmate_8_frypan_1",
919
+ "joint_type": "free",
920
+ "qpos_start": 16,
921
+ "qpos_len": 7
922
+ },
923
+ {
924
+ "name": "white_bowl_1",
925
+ "joint_type": "free",
926
+ "qpos_start": 9,
927
+ "qpos_len": 7
928
+ }
929
+ ]
930
+ },
931
+ "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet": {
932
+ "nq": 24,
933
+ "qpos_offset": 1,
934
+ "objects": [
935
+ {
936
+ "name": "chefmate_8_frypan_1",
937
+ "joint_type": "free",
938
+ "qpos_start": 16,
939
+ "qpos_len": 7
940
+ },
941
+ {
942
+ "name": "white_bowl_1",
943
+ "joint_type": "free",
944
+ "qpos_start": 9,
945
+ "qpos_len": 7
946
+ }
947
+ ]
948
+ },
949
+ "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf": {
950
+ "nq": 24,
951
+ "qpos_offset": 1,
952
+ "objects": [
953
+ {
954
+ "name": "chefmate_8_frypan_1",
955
+ "joint_type": "free",
956
+ "qpos_start": 16,
957
+ "qpos_len": 7
958
+ },
959
+ {
960
+ "name": "white_bowl_1",
961
+ "joint_type": "free",
962
+ "qpos_start": 9,
963
+ "qpos_len": 7
964
+ }
965
+ ]
966
+ },
967
+ "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet": {
968
+ "nq": 24,
969
+ "qpos_offset": 1,
970
+ "objects": [
971
+ {
972
+ "name": "chefmate_8_frypan_1",
973
+ "joint_type": "free",
974
+ "qpos_start": 16,
975
+ "qpos_len": 7
976
+ },
977
+ {
978
+ "name": "white_bowl_1",
979
+ "joint_type": "free",
980
+ "qpos_start": 9,
981
+ "qpos_len": 7
982
+ }
983
+ ]
984
+ },
985
+ "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it": {
986
+ "nq": 24,
987
+ "qpos_offset": 1,
988
+ "objects": [
989
+ {
990
+ "name": "chefmate_8_frypan_1",
991
+ "joint_type": "free",
992
+ "qpos_start": 16,
993
+ "qpos_len": 7
994
+ },
995
+ {
996
+ "name": "white_bowl_1",
997
+ "joint_type": "free",
998
+ "qpos_start": 9,
999
+ "qpos_len": 7
1000
+ }
1001
+ ]
1002
+ },
1003
+ "KITCHEN_SCENE9_turn_on_the_stove": {
1004
+ "nq": 24,
1005
+ "qpos_offset": 1,
1006
+ "objects": [
1007
+ {
1008
+ "name": "chefmate_8_frypan_1",
1009
+ "joint_type": "free",
1010
+ "qpos_start": 16,
1011
+ "qpos_len": 7
1012
+ },
1013
+ {
1014
+ "name": "white_bowl_1",
1015
+ "joint_type": "free",
1016
+ "qpos_start": 9,
1017
+ "qpos_len": 7
1018
+ }
1019
+ ]
1020
+ },
1021
+ "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket": {
1022
+ "nq": 44,
1023
+ "qpos_offset": 1,
1024
+ "objects": [
1025
+ {
1026
+ "name": "alphabet_soup_1",
1027
+ "joint_type": "free",
1028
+ "qpos_start": 9,
1029
+ "qpos_len": 7
1030
+ },
1031
+ {
1032
+ "name": "basket_1",
1033
+ "joint_type": "free",
1034
+ "qpos_start": 37,
1035
+ "qpos_len": 7
1036
+ },
1037
+ {
1038
+ "name": "cream_cheese_1",
1039
+ "joint_type": "free",
1040
+ "qpos_start": 16,
1041
+ "qpos_len": 7
1042
+ },
1043
+ {
1044
+ "name": "ketchup_1",
1045
+ "joint_type": "free",
1046
+ "qpos_start": 30,
1047
+ "qpos_len": 7
1048
+ },
1049
+ {
1050
+ "name": "tomato_sauce_1",
1051
+ "joint_type": "free",
1052
+ "qpos_start": 23,
1053
+ "qpos_len": 7
1054
+ }
1055
+ ]
1056
+ },
1057
+ "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket": {
1058
+ "nq": 44,
1059
+ "qpos_offset": 1,
1060
+ "objects": [
1061
+ {
1062
+ "name": "alphabet_soup_1",
1063
+ "joint_type": "free",
1064
+ "qpos_start": 9,
1065
+ "qpos_len": 7
1066
+ },
1067
+ {
1068
+ "name": "basket_1",
1069
+ "joint_type": "free",
1070
+ "qpos_start": 37,
1071
+ "qpos_len": 7
1072
+ },
1073
+ {
1074
+ "name": "cream_cheese_1",
1075
+ "joint_type": "free",
1076
+ "qpos_start": 16,
1077
+ "qpos_len": 7
1078
+ },
1079
+ {
1080
+ "name": "ketchup_1",
1081
+ "joint_type": "free",
1082
+ "qpos_start": 30,
1083
+ "qpos_len": 7
1084
+ },
1085
+ {
1086
+ "name": "tomato_sauce_1",
1087
+ "joint_type": "free",
1088
+ "qpos_start": 23,
1089
+ "qpos_len": 7
1090
+ }
1091
+ ]
1092
+ },
1093
+ "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket": {
1094
+ "nq": 44,
1095
+ "qpos_offset": 1,
1096
+ "objects": [
1097
+ {
1098
+ "name": "alphabet_soup_1",
1099
+ "joint_type": "free",
1100
+ "qpos_start": 9,
1101
+ "qpos_len": 7
1102
+ },
1103
+ {
1104
+ "name": "basket_1",
1105
+ "joint_type": "free",
1106
+ "qpos_start": 37,
1107
+ "qpos_len": 7
1108
+ },
1109
+ {
1110
+ "name": "cream_cheese_1",
1111
+ "joint_type": "free",
1112
+ "qpos_start": 16,
1113
+ "qpos_len": 7
1114
+ },
1115
+ {
1116
+ "name": "ketchup_1",
1117
+ "joint_type": "free",
1118
+ "qpos_start": 30,
1119
+ "qpos_len": 7
1120
+ },
1121
+ {
1122
+ "name": "tomato_sauce_1",
1123
+ "joint_type": "free",
1124
+ "qpos_start": 23,
1125
+ "qpos_len": 7
1126
+ }
1127
+ ]
1128
+ },
1129
+ "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket": {
1130
+ "nq": 44,
1131
+ "qpos_offset": 1,
1132
+ "objects": [
1133
+ {
1134
+ "name": "alphabet_soup_1",
1135
+ "joint_type": "free",
1136
+ "qpos_start": 9,
1137
+ "qpos_len": 7
1138
+ },
1139
+ {
1140
+ "name": "basket_1",
1141
+ "joint_type": "free",
1142
+ "qpos_start": 37,
1143
+ "qpos_len": 7
1144
+ },
1145
+ {
1146
+ "name": "cream_cheese_1",
1147
+ "joint_type": "free",
1148
+ "qpos_start": 16,
1149
+ "qpos_len": 7
1150
+ },
1151
+ {
1152
+ "name": "ketchup_1",
1153
+ "joint_type": "free",
1154
+ "qpos_start": 30,
1155
+ "qpos_len": 7
1156
+ },
1157
+ {
1158
+ "name": "tomato_sauce_1",
1159
+ "joint_type": "free",
1160
+ "qpos_start": 23,
1161
+ "qpos_len": 7
1162
+ }
1163
+ ]
1164
+ },
1165
+ "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket": {
1166
+ "nq": 65,
1167
+ "qpos_offset": 1,
1168
+ "objects": [
1169
+ {
1170
+ "name": "alphabet_soup_1",
1171
+ "joint_type": "free",
1172
+ "qpos_start": 9,
1173
+ "qpos_len": 7
1174
+ },
1175
+ {
1176
+ "name": "basket_1",
1177
+ "joint_type": "free",
1178
+ "qpos_start": 58,
1179
+ "qpos_len": 7
1180
+ },
1181
+ {
1182
+ "name": "butter_1",
1183
+ "joint_type": "free",
1184
+ "qpos_start": 51,
1185
+ "qpos_len": 7
1186
+ },
1187
+ {
1188
+ "name": "cream_cheese_1",
1189
+ "joint_type": "free",
1190
+ "qpos_start": 16,
1191
+ "qpos_len": 7
1192
+ },
1193
+ {
1194
+ "name": "ketchup_1",
1195
+ "joint_type": "free",
1196
+ "qpos_start": 30,
1197
+ "qpos_len": 7
1198
+ },
1199
+ {
1200
+ "name": "milk_1",
1201
+ "joint_type": "free",
1202
+ "qpos_start": 44,
1203
+ "qpos_len": 7
1204
+ },
1205
+ {
1206
+ "name": "orange_juice_1",
1207
+ "joint_type": "free",
1208
+ "qpos_start": 37,
1209
+ "qpos_len": 7
1210
+ },
1211
+ {
1212
+ "name": "tomato_sauce_1",
1213
+ "joint_type": "free",
1214
+ "qpos_start": 23,
1215
+ "qpos_len": 7
1216
+ }
1217
+ ]
1218
+ },
1219
+ "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket": {
1220
+ "nq": 65,
1221
+ "qpos_offset": 1,
1222
+ "objects": [
1223
+ {
1224
+ "name": "alphabet_soup_1",
1225
+ "joint_type": "free",
1226
+ "qpos_start": 9,
1227
+ "qpos_len": 7
1228
+ },
1229
+ {
1230
+ "name": "basket_1",
1231
+ "joint_type": "free",
1232
+ "qpos_start": 58,
1233
+ "qpos_len": 7
1234
+ },
1235
+ {
1236
+ "name": "butter_1",
1237
+ "joint_type": "free",
1238
+ "qpos_start": 51,
1239
+ "qpos_len": 7
1240
+ },
1241
+ {
1242
+ "name": "cream_cheese_1",
1243
+ "joint_type": "free",
1244
+ "qpos_start": 16,
1245
+ "qpos_len": 7
1246
+ },
1247
+ {
1248
+ "name": "ketchup_1",
1249
+ "joint_type": "free",
1250
+ "qpos_start": 30,
1251
+ "qpos_len": 7
1252
+ },
1253
+ {
1254
+ "name": "milk_1",
1255
+ "joint_type": "free",
1256
+ "qpos_start": 44,
1257
+ "qpos_len": 7
1258
+ },
1259
+ {
1260
+ "name": "orange_juice_1",
1261
+ "joint_type": "free",
1262
+ "qpos_start": 37,
1263
+ "qpos_len": 7
1264
+ },
1265
+ {
1266
+ "name": "tomato_sauce_1",
1267
+ "joint_type": "free",
1268
+ "qpos_start": 23,
1269
+ "qpos_len": 7
1270
+ }
1271
+ ]
1272
+ },
1273
+ "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket": {
1274
+ "nq": 65,
1275
+ "qpos_offset": 1,
1276
+ "objects": [
1277
+ {
1278
+ "name": "alphabet_soup_1",
1279
+ "joint_type": "free",
1280
+ "qpos_start": 9,
1281
+ "qpos_len": 7
1282
+ },
1283
+ {
1284
+ "name": "basket_1",
1285
+ "joint_type": "free",
1286
+ "qpos_start": 58,
1287
+ "qpos_len": 7
1288
+ },
1289
+ {
1290
+ "name": "butter_1",
1291
+ "joint_type": "free",
1292
+ "qpos_start": 51,
1293
+ "qpos_len": 7
1294
+ },
1295
+ {
1296
+ "name": "cream_cheese_1",
1297
+ "joint_type": "free",
1298
+ "qpos_start": 16,
1299
+ "qpos_len": 7
1300
+ },
1301
+ {
1302
+ "name": "ketchup_1",
1303
+ "joint_type": "free",
1304
+ "qpos_start": 30,
1305
+ "qpos_len": 7
1306
+ },
1307
+ {
1308
+ "name": "milk_1",
1309
+ "joint_type": "free",
1310
+ "qpos_start": 44,
1311
+ "qpos_len": 7
1312
+ },
1313
+ {
1314
+ "name": "orange_juice_1",
1315
+ "joint_type": "free",
1316
+ "qpos_start": 37,
1317
+ "qpos_len": 7
1318
+ },
1319
+ {
1320
+ "name": "tomato_sauce_1",
1321
+ "joint_type": "free",
1322
+ "qpos_start": 23,
1323
+ "qpos_len": 7
1324
+ }
1325
+ ]
1326
+ },
1327
+ "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket": {
1328
+ "nq": 65,
1329
+ "qpos_offset": 1,
1330
+ "objects": [
1331
+ {
1332
+ "name": "alphabet_soup_1",
1333
+ "joint_type": "free",
1334
+ "qpos_start": 9,
1335
+ "qpos_len": 7
1336
+ },
1337
+ {
1338
+ "name": "basket_1",
1339
+ "joint_type": "free",
1340
+ "qpos_start": 58,
1341
+ "qpos_len": 7
1342
+ },
1343
+ {
1344
+ "name": "butter_1",
1345
+ "joint_type": "free",
1346
+ "qpos_start": 51,
1347
+ "qpos_len": 7
1348
+ },
1349
+ {
1350
+ "name": "cream_cheese_1",
1351
+ "joint_type": "free",
1352
+ "qpos_start": 16,
1353
+ "qpos_len": 7
1354
+ },
1355
+ {
1356
+ "name": "ketchup_1",
1357
+ "joint_type": "free",
1358
+ "qpos_start": 30,
1359
+ "qpos_len": 7
1360
+ },
1361
+ {
1362
+ "name": "milk_1",
1363
+ "joint_type": "free",
1364
+ "qpos_start": 44,
1365
+ "qpos_len": 7
1366
+ },
1367
+ {
1368
+ "name": "orange_juice_1",
1369
+ "joint_type": "free",
1370
+ "qpos_start": 37,
1371
+ "qpos_len": 7
1372
+ },
1373
+ {
1374
+ "name": "tomato_sauce_1",
1375
+ "joint_type": "free",
1376
+ "qpos_start": 23,
1377
+ "qpos_len": 7
1378
+ }
1379
+ ]
1380
+ },
1381
+ "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket": {
1382
+ "nq": 65,
1383
+ "qpos_offset": 1,
1384
+ "objects": [
1385
+ {
1386
+ "name": "alphabet_soup_1",
1387
+ "joint_type": "free",
1388
+ "qpos_start": 9,
1389
+ "qpos_len": 7
1390
+ },
1391
+ {
1392
+ "name": "basket_1",
1393
+ "joint_type": "free",
1394
+ "qpos_start": 58,
1395
+ "qpos_len": 7
1396
+ },
1397
+ {
1398
+ "name": "butter_1",
1399
+ "joint_type": "free",
1400
+ "qpos_start": 51,
1401
+ "qpos_len": 7
1402
+ },
1403
+ {
1404
+ "name": "cream_cheese_1",
1405
+ "joint_type": "free",
1406
+ "qpos_start": 16,
1407
+ "qpos_len": 7
1408
+ },
1409
+ {
1410
+ "name": "ketchup_1",
1411
+ "joint_type": "free",
1412
+ "qpos_start": 30,
1413
+ "qpos_len": 7
1414
+ },
1415
+ {
1416
+ "name": "milk_1",
1417
+ "joint_type": "free",
1418
+ "qpos_start": 44,
1419
+ "qpos_len": 7
1420
+ },
1421
+ {
1422
+ "name": "orange_juice_1",
1423
+ "joint_type": "free",
1424
+ "qpos_start": 37,
1425
+ "qpos_len": 7
1426
+ },
1427
+ {
1428
+ "name": "tomato_sauce_1",
1429
+ "joint_type": "free",
1430
+ "qpos_start": 23,
1431
+ "qpos_len": 7
1432
+ }
1433
+ ]
1434
+ },
1435
+ "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray": {
1436
+ "nq": 51,
1437
+ "qpos_offset": 1,
1438
+ "objects": [
1439
+ {
1440
+ "name": "alphabet_soup_1",
1441
+ "joint_type": "free",
1442
+ "qpos_start": 9,
1443
+ "qpos_len": 7
1444
+ },
1445
+ {
1446
+ "name": "butter_1",
1447
+ "joint_type": "free",
1448
+ "qpos_start": 37,
1449
+ "qpos_len": 7
1450
+ },
1451
+ {
1452
+ "name": "cream_cheese_1",
1453
+ "joint_type": "free",
1454
+ "qpos_start": 16,
1455
+ "qpos_len": 7
1456
+ },
1457
+ {
1458
+ "name": "ketchup_1",
1459
+ "joint_type": "free",
1460
+ "qpos_start": 30,
1461
+ "qpos_len": 7
1462
+ },
1463
+ {
1464
+ "name": "tomato_sauce_1",
1465
+ "joint_type": "free",
1466
+ "qpos_start": 23,
1467
+ "qpos_len": 7
1468
+ },
1469
+ {
1470
+ "name": "wooden_tray_1",
1471
+ "joint_type": "free",
1472
+ "qpos_start": 44,
1473
+ "qpos_len": 7
1474
+ }
1475
+ ]
1476
+ },
1477
+ "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray": {
1478
+ "nq": 51,
1479
+ "qpos_offset": 1,
1480
+ "objects": [
1481
+ {
1482
+ "name": "alphabet_soup_1",
1483
+ "joint_type": "free",
1484
+ "qpos_start": 9,
1485
+ "qpos_len": 7
1486
+ },
1487
+ {
1488
+ "name": "butter_1",
1489
+ "joint_type": "free",
1490
+ "qpos_start": 37,
1491
+ "qpos_len": 7
1492
+ },
1493
+ {
1494
+ "name": "cream_cheese_1",
1495
+ "joint_type": "free",
1496
+ "qpos_start": 16,
1497
+ "qpos_len": 7
1498
+ },
1499
+ {
1500
+ "name": "ketchup_1",
1501
+ "joint_type": "free",
1502
+ "qpos_start": 30,
1503
+ "qpos_len": 7
1504
+ },
1505
+ {
1506
+ "name": "tomato_sauce_1",
1507
+ "joint_type": "free",
1508
+ "qpos_start": 23,
1509
+ "qpos_len": 7
1510
+ },
1511
+ {
1512
+ "name": "wooden_tray_1",
1513
+ "joint_type": "free",
1514
+ "qpos_start": 44,
1515
+ "qpos_len": 7
1516
+ }
1517
+ ]
1518
+ },
1519
+ "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray": {
1520
+ "nq": 51,
1521
+ "qpos_offset": 1,
1522
+ "objects": [
1523
+ {
1524
+ "name": "alphabet_soup_1",
1525
+ "joint_type": "free",
1526
+ "qpos_start": 9,
1527
+ "qpos_len": 7
1528
+ },
1529
+ {
1530
+ "name": "butter_1",
1531
+ "joint_type": "free",
1532
+ "qpos_start": 37,
1533
+ "qpos_len": 7
1534
+ },
1535
+ {
1536
+ "name": "cream_cheese_1",
1537
+ "joint_type": "free",
1538
+ "qpos_start": 16,
1539
+ "qpos_len": 7
1540
+ },
1541
+ {
1542
+ "name": "ketchup_1",
1543
+ "joint_type": "free",
1544
+ "qpos_start": 30,
1545
+ "qpos_len": 7
1546
+ },
1547
+ {
1548
+ "name": "tomato_sauce_1",
1549
+ "joint_type": "free",
1550
+ "qpos_start": 23,
1551
+ "qpos_len": 7
1552
+ },
1553
+ {
1554
+ "name": "wooden_tray_1",
1555
+ "joint_type": "free",
1556
+ "qpos_start": 44,
1557
+ "qpos_len": 7
1558
+ }
1559
+ ]
1560
+ },
1561
+ "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray": {
1562
+ "nq": 51,
1563
+ "qpos_offset": 1,
1564
+ "objects": [
1565
+ {
1566
+ "name": "alphabet_soup_1",
1567
+ "joint_type": "free",
1568
+ "qpos_start": 9,
1569
+ "qpos_len": 7
1570
+ },
1571
+ {
1572
+ "name": "butter_1",
1573
+ "joint_type": "free",
1574
+ "qpos_start": 37,
1575
+ "qpos_len": 7
1576
+ },
1577
+ {
1578
+ "name": "cream_cheese_1",
1579
+ "joint_type": "free",
1580
+ "qpos_start": 16,
1581
+ "qpos_len": 7
1582
+ },
1583
+ {
1584
+ "name": "ketchup_1",
1585
+ "joint_type": "free",
1586
+ "qpos_start": 30,
1587
+ "qpos_len": 7
1588
+ },
1589
+ {
1590
+ "name": "tomato_sauce_1",
1591
+ "joint_type": "free",
1592
+ "qpos_start": 23,
1593
+ "qpos_len": 7
1594
+ },
1595
+ {
1596
+ "name": "wooden_tray_1",
1597
+ "joint_type": "free",
1598
+ "qpos_start": 44,
1599
+ "qpos_len": 7
1600
+ }
1601
+ ]
1602
+ },
1603
+ "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray": {
1604
+ "nq": 51,
1605
+ "qpos_offset": 1,
1606
+ "objects": [
1607
+ {
1608
+ "name": "alphabet_soup_1",
1609
+ "joint_type": "free",
1610
+ "qpos_start": 9,
1611
+ "qpos_len": 7
1612
+ },
1613
+ {
1614
+ "name": "butter_1",
1615
+ "joint_type": "free",
1616
+ "qpos_start": 37,
1617
+ "qpos_len": 7
1618
+ },
1619
+ {
1620
+ "name": "cream_cheese_1",
1621
+ "joint_type": "free",
1622
+ "qpos_start": 16,
1623
+ "qpos_len": 7
1624
+ },
1625
+ {
1626
+ "name": "ketchup_1",
1627
+ "joint_type": "free",
1628
+ "qpos_start": 30,
1629
+ "qpos_len": 7
1630
+ },
1631
+ {
1632
+ "name": "tomato_sauce_1",
1633
+ "joint_type": "free",
1634
+ "qpos_start": 23,
1635
+ "qpos_len": 7
1636
+ },
1637
+ {
1638
+ "name": "wooden_tray_1",
1639
+ "joint_type": "free",
1640
+ "qpos_start": 44,
1641
+ "qpos_len": 7
1642
+ }
1643
+ ]
1644
+ },
1645
+ "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray": {
1646
+ "nq": 44,
1647
+ "qpos_offset": 1,
1648
+ "objects": [
1649
+ {
1650
+ "name": "akita_black_bowl_1",
1651
+ "joint_type": "free",
1652
+ "qpos_start": 9,
1653
+ "qpos_len": 7
1654
+ },
1655
+ {
1656
+ "name": "akita_black_bowl_2",
1657
+ "joint_type": "free",
1658
+ "qpos_start": 16,
1659
+ "qpos_len": 7
1660
+ },
1661
+ {
1662
+ "name": "chocolate_pudding_1",
1663
+ "joint_type": "free",
1664
+ "qpos_start": 30,
1665
+ "qpos_len": 7
1666
+ },
1667
+ {
1668
+ "name": "new_salad_dressing_1",
1669
+ "joint_type": "free",
1670
+ "qpos_start": 23,
1671
+ "qpos_len": 7
1672
+ },
1673
+ {
1674
+ "name": "wooden_tray_1",
1675
+ "joint_type": "free",
1676
+ "qpos_start": 37,
1677
+ "qpos_len": 7
1678
+ }
1679
+ ]
1680
+ },
1681
+ "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray": {
1682
+ "nq": 44,
1683
+ "qpos_offset": 1,
1684
+ "objects": [
1685
+ {
1686
+ "name": "akita_black_bowl_1",
1687
+ "joint_type": "free",
1688
+ "qpos_start": 9,
1689
+ "qpos_len": 7
1690
+ },
1691
+ {
1692
+ "name": "akita_black_bowl_2",
1693
+ "joint_type": "free",
1694
+ "qpos_start": 16,
1695
+ "qpos_len": 7
1696
+ },
1697
+ {
1698
+ "name": "chocolate_pudding_1",
1699
+ "joint_type": "free",
1700
+ "qpos_start": 30,
1701
+ "qpos_len": 7
1702
+ },
1703
+ {
1704
+ "name": "new_salad_dressing_1",
1705
+ "joint_type": "free",
1706
+ "qpos_start": 23,
1707
+ "qpos_len": 7
1708
+ },
1709
+ {
1710
+ "name": "wooden_tray_1",
1711
+ "joint_type": "free",
1712
+ "qpos_start": 37,
1713
+ "qpos_len": 7
1714
+ }
1715
+ ]
1716
+ },
1717
+ "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray": {
1718
+ "nq": 44,
1719
+ "qpos_offset": 1,
1720
+ "objects": [
1721
+ {
1722
+ "name": "akita_black_bowl_1",
1723
+ "joint_type": "free",
1724
+ "qpos_start": 9,
1725
+ "qpos_len": 7
1726
+ },
1727
+ {
1728
+ "name": "akita_black_bowl_2",
1729
+ "joint_type": "free",
1730
+ "qpos_start": 16,
1731
+ "qpos_len": 7
1732
+ },
1733
+ {
1734
+ "name": "chocolate_pudding_1",
1735
+ "joint_type": "free",
1736
+ "qpos_start": 30,
1737
+ "qpos_len": 7
1738
+ },
1739
+ {
1740
+ "name": "new_salad_dressing_1",
1741
+ "joint_type": "free",
1742
+ "qpos_start": 23,
1743
+ "qpos_len": 7
1744
+ },
1745
+ {
1746
+ "name": "wooden_tray_1",
1747
+ "joint_type": "free",
1748
+ "qpos_start": 37,
1749
+ "qpos_len": 7
1750
+ }
1751
+ ]
1752
+ },
1753
+ "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray": {
1754
+ "nq": 44,
1755
+ "qpos_offset": 1,
1756
+ "objects": [
1757
+ {
1758
+ "name": "akita_black_bowl_1",
1759
+ "joint_type": "free",
1760
+ "qpos_start": 9,
1761
+ "qpos_len": 7
1762
+ },
1763
+ {
1764
+ "name": "akita_black_bowl_2",
1765
+ "joint_type": "free",
1766
+ "qpos_start": 16,
1767
+ "qpos_len": 7
1768
+ },
1769
+ {
1770
+ "name": "chocolate_pudding_1",
1771
+ "joint_type": "free",
1772
+ "qpos_start": 30,
1773
+ "qpos_len": 7
1774
+ },
1775
+ {
1776
+ "name": "new_salad_dressing_1",
1777
+ "joint_type": "free",
1778
+ "qpos_start": 23,
1779
+ "qpos_len": 7
1780
+ },
1781
+ {
1782
+ "name": "wooden_tray_1",
1783
+ "joint_type": "free",
1784
+ "qpos_start": 37,
1785
+ "qpos_len": 7
1786
+ }
1787
+ ]
1788
+ },
1789
+ "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray": {
1790
+ "nq": 44,
1791
+ "qpos_offset": 1,
1792
+ "objects": [
1793
+ {
1794
+ "name": "akita_black_bowl_1",
1795
+ "joint_type": "free",
1796
+ "qpos_start": 9,
1797
+ "qpos_len": 7
1798
+ },
1799
+ {
1800
+ "name": "akita_black_bowl_2",
1801
+ "joint_type": "free",
1802
+ "qpos_start": 16,
1803
+ "qpos_len": 7
1804
+ },
1805
+ {
1806
+ "name": "chocolate_pudding_1",
1807
+ "joint_type": "free",
1808
+ "qpos_start": 30,
1809
+ "qpos_len": 7
1810
+ },
1811
+ {
1812
+ "name": "new_salad_dressing_1",
1813
+ "joint_type": "free",
1814
+ "qpos_start": 23,
1815
+ "qpos_len": 7
1816
+ },
1817
+ {
1818
+ "name": "wooden_tray_1",
1819
+ "joint_type": "free",
1820
+ "qpos_start": 37,
1821
+ "qpos_len": 7
1822
+ }
1823
+ ]
1824
+ },
1825
+ "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate": {
1826
+ "nq": 44,
1827
+ "qpos_offset": 1,
1828
+ "objects": [
1829
+ {
1830
+ "name": "plate_1",
1831
+ "joint_type": "free",
1832
+ "qpos_start": 30,
1833
+ "qpos_len": 7
1834
+ },
1835
+ {
1836
+ "name": "plate_2",
1837
+ "joint_type": "free",
1838
+ "qpos_start": 37,
1839
+ "qpos_len": 7
1840
+ },
1841
+ {
1842
+ "name": "porcelain_mug_1",
1843
+ "joint_type": "free",
1844
+ "qpos_start": 9,
1845
+ "qpos_len": 7
1846
+ },
1847
+ {
1848
+ "name": "red_coffee_mug_1",
1849
+ "joint_type": "free",
1850
+ "qpos_start": 16,
1851
+ "qpos_len": 7
1852
+ },
1853
+ {
1854
+ "name": "white_yellow_mug_1",
1855
+ "joint_type": "free",
1856
+ "qpos_start": 23,
1857
+ "qpos_len": 7
1858
+ }
1859
+ ]
1860
+ },
1861
+ "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate": {
1862
+ "nq": 44,
1863
+ "qpos_offset": 1,
1864
+ "objects": [
1865
+ {
1866
+ "name": "plate_1",
1867
+ "joint_type": "free",
1868
+ "qpos_start": 30,
1869
+ "qpos_len": 7
1870
+ },
1871
+ {
1872
+ "name": "plate_2",
1873
+ "joint_type": "free",
1874
+ "qpos_start": 37,
1875
+ "qpos_len": 7
1876
+ },
1877
+ {
1878
+ "name": "porcelain_mug_1",
1879
+ "joint_type": "free",
1880
+ "qpos_start": 9,
1881
+ "qpos_len": 7
1882
+ },
1883
+ {
1884
+ "name": "red_coffee_mug_1",
1885
+ "joint_type": "free",
1886
+ "qpos_start": 16,
1887
+ "qpos_len": 7
1888
+ },
1889
+ {
1890
+ "name": "white_yellow_mug_1",
1891
+ "joint_type": "free",
1892
+ "qpos_start": 23,
1893
+ "qpos_len": 7
1894
+ }
1895
+ ]
1896
+ },
1897
+ "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate": {
1898
+ "nq": 44,
1899
+ "qpos_offset": 1,
1900
+ "objects": [
1901
+ {
1902
+ "name": "plate_1",
1903
+ "joint_type": "free",
1904
+ "qpos_start": 30,
1905
+ "qpos_len": 7
1906
+ },
1907
+ {
1908
+ "name": "plate_2",
1909
+ "joint_type": "free",
1910
+ "qpos_start": 37,
1911
+ "qpos_len": 7
1912
+ },
1913
+ {
1914
+ "name": "porcelain_mug_1",
1915
+ "joint_type": "free",
1916
+ "qpos_start": 9,
1917
+ "qpos_len": 7
1918
+ },
1919
+ {
1920
+ "name": "red_coffee_mug_1",
1921
+ "joint_type": "free",
1922
+ "qpos_start": 16,
1923
+ "qpos_len": 7
1924
+ },
1925
+ {
1926
+ "name": "white_yellow_mug_1",
1927
+ "joint_type": "free",
1928
+ "qpos_start": 23,
1929
+ "qpos_len": 7
1930
+ }
1931
+ ]
1932
+ },
1933
+ "LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate": {
1934
+ "nq": 44,
1935
+ "qpos_offset": 1,
1936
+ "objects": [
1937
+ {
1938
+ "name": "plate_1",
1939
+ "joint_type": "free",
1940
+ "qpos_start": 30,
1941
+ "qpos_len": 7
1942
+ },
1943
+ {
1944
+ "name": "plate_2",
1945
+ "joint_type": "free",
1946
+ "qpos_start": 37,
1947
+ "qpos_len": 7
1948
+ },
1949
+ {
1950
+ "name": "porcelain_mug_1",
1951
+ "joint_type": "free",
1952
+ "qpos_start": 9,
1953
+ "qpos_len": 7
1954
+ },
1955
+ {
1956
+ "name": "red_coffee_mug_1",
1957
+ "joint_type": "free",
1958
+ "qpos_start": 16,
1959
+ "qpos_len": 7
1960
+ },
1961
+ {
1962
+ "name": "white_yellow_mug_1",
1963
+ "joint_type": "free",
1964
+ "qpos_start": 23,
1965
+ "qpos_len": 7
1966
+ }
1967
+ ]
1968
+ },
1969
+ "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate": {
1970
+ "nq": 37,
1971
+ "qpos_offset": 1,
1972
+ "objects": [
1973
+ {
1974
+ "name": "chocolate_pudding_1",
1975
+ "joint_type": "free",
1976
+ "qpos_start": 30,
1977
+ "qpos_len": 7
1978
+ },
1979
+ {
1980
+ "name": "plate_1",
1981
+ "joint_type": "free",
1982
+ "qpos_start": 23,
1983
+ "qpos_len": 7
1984
+ },
1985
+ {
1986
+ "name": "porcelain_mug_1",
1987
+ "joint_type": "free",
1988
+ "qpos_start": 9,
1989
+ "qpos_len": 7
1990
+ },
1991
+ {
1992
+ "name": "red_coffee_mug_1",
1993
+ "joint_type": "free",
1994
+ "qpos_start": 16,
1995
+ "qpos_len": 7
1996
+ }
1997
+ ]
1998
+ },
1999
+ "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate": {
2000
+ "nq": 37,
2001
+ "qpos_offset": 1,
2002
+ "objects": [
2003
+ {
2004
+ "name": "chocolate_pudding_1",
2005
+ "joint_type": "free",
2006
+ "qpos_start": 30,
2007
+ "qpos_len": 7
2008
+ },
2009
+ {
2010
+ "name": "plate_1",
2011
+ "joint_type": "free",
2012
+ "qpos_start": 23,
2013
+ "qpos_len": 7
2014
+ },
2015
+ {
2016
+ "name": "porcelain_mug_1",
2017
+ "joint_type": "free",
2018
+ "qpos_start": 9,
2019
+ "qpos_len": 7
2020
+ },
2021
+ {
2022
+ "name": "red_coffee_mug_1",
2023
+ "joint_type": "free",
2024
+ "qpos_start": 16,
2025
+ "qpos_len": 7
2026
+ }
2027
+ ]
2028
+ },
2029
+ "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate": {
2030
+ "nq": 37,
2031
+ "qpos_offset": 1,
2032
+ "objects": [
2033
+ {
2034
+ "name": "chocolate_pudding_1",
2035
+ "joint_type": "free",
2036
+ "qpos_start": 30,
2037
+ "qpos_len": 7
2038
+ },
2039
+ {
2040
+ "name": "plate_1",
2041
+ "joint_type": "free",
2042
+ "qpos_start": 23,
2043
+ "qpos_len": 7
2044
+ },
2045
+ {
2046
+ "name": "porcelain_mug_1",
2047
+ "joint_type": "free",
2048
+ "qpos_start": 9,
2049
+ "qpos_len": 7
2050
+ },
2051
+ {
2052
+ "name": "red_coffee_mug_1",
2053
+ "joint_type": "free",
2054
+ "qpos_start": 16,
2055
+ "qpos_len": 7
2056
+ }
2057
+ ]
2058
+ },
2059
+ "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate": {
2060
+ "nq": 37,
2061
+ "qpos_offset": 1,
2062
+ "objects": [
2063
+ {
2064
+ "name": "chocolate_pudding_1",
2065
+ "joint_type": "free",
2066
+ "qpos_start": 30,
2067
+ "qpos_len": 7
2068
+ },
2069
+ {
2070
+ "name": "plate_1",
2071
+ "joint_type": "free",
2072
+ "qpos_start": 23,
2073
+ "qpos_len": 7
2074
+ },
2075
+ {
2076
+ "name": "porcelain_mug_1",
2077
+ "joint_type": "free",
2078
+ "qpos_start": 9,
2079
+ "qpos_len": 7
2080
+ },
2081
+ {
2082
+ "name": "red_coffee_mug_1",
2083
+ "joint_type": "free",
2084
+ "qpos_start": 16,
2085
+ "qpos_len": 7
2086
+ }
2087
+ ]
2088
+ },
2089
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy": {
2090
+ "nq": 23,
2091
+ "qpos_offset": 1,
2092
+ "objects": [
2093
+ {
2094
+ "name": "black_book_1",
2095
+ "joint_type": "free",
2096
+ "qpos_start": 9,
2097
+ "qpos_len": 7
2098
+ },
2099
+ {
2100
+ "name": "white_yellow_mug_1",
2101
+ "joint_type": "free",
2102
+ "qpos_start": 16,
2103
+ "qpos_len": 7
2104
+ }
2105
+ ]
2106
+ },
2107
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy": {
2108
+ "nq": 23,
2109
+ "qpos_offset": 1,
2110
+ "objects": [
2111
+ {
2112
+ "name": "black_book_1",
2113
+ "joint_type": "free",
2114
+ "qpos_start": 9,
2115
+ "qpos_len": 7
2116
+ },
2117
+ {
2118
+ "name": "white_yellow_mug_1",
2119
+ "joint_type": "free",
2120
+ "qpos_start": 16,
2121
+ "qpos_len": 7
2122
+ }
2123
+ ]
2124
+ },
2125
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy": {
2126
+ "nq": 23,
2127
+ "qpos_offset": 1,
2128
+ "objects": [
2129
+ {
2130
+ "name": "black_book_1",
2131
+ "joint_type": "free",
2132
+ "qpos_start": 9,
2133
+ "qpos_len": 7
2134
+ },
2135
+ {
2136
+ "name": "white_yellow_mug_1",
2137
+ "joint_type": "free",
2138
+ "qpos_start": 16,
2139
+ "qpos_len": 7
2140
+ }
2141
+ ]
2142
+ },
2143
+ "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy": {
2144
+ "nq": 23,
2145
+ "qpos_offset": 1,
2146
+ "objects": [
2147
+ {
2148
+ "name": "black_book_1",
2149
+ "joint_type": "free",
2150
+ "qpos_start": 9,
2151
+ "qpos_len": 7
2152
+ },
2153
+ {
2154
+ "name": "white_yellow_mug_1",
2155
+ "joint_type": "free",
2156
+ "qpos_start": 16,
2157
+ "qpos_len": 7
2158
+ }
2159
+ ]
2160
+ },
2161
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy": {
2162
+ "nq": 23,
2163
+ "qpos_offset": 1,
2164
+ "objects": [
2165
+ {
2166
+ "name": "black_book_1",
2167
+ "joint_type": "free",
2168
+ "qpos_start": 9,
2169
+ "qpos_len": 7
2170
+ },
2171
+ {
2172
+ "name": "red_coffee_mug_1",
2173
+ "joint_type": "free",
2174
+ "qpos_start": 16,
2175
+ "qpos_len": 7
2176
+ }
2177
+ ]
2178
+ },
2179
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy": {
2180
+ "nq": 23,
2181
+ "qpos_offset": 1,
2182
+ "objects": [
2183
+ {
2184
+ "name": "black_book_1",
2185
+ "joint_type": "free",
2186
+ "qpos_start": 9,
2187
+ "qpos_len": 7
2188
+ },
2189
+ {
2190
+ "name": "red_coffee_mug_1",
2191
+ "joint_type": "free",
2192
+ "qpos_start": 16,
2193
+ "qpos_len": 7
2194
+ }
2195
+ ]
2196
+ },
2197
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy": {
2198
+ "nq": 23,
2199
+ "qpos_offset": 1,
2200
+ "objects": [
2201
+ {
2202
+ "name": "black_book_1",
2203
+ "joint_type": "free",
2204
+ "qpos_start": 9,
2205
+ "qpos_len": 7
2206
+ },
2207
+ {
2208
+ "name": "red_coffee_mug_1",
2209
+ "joint_type": "free",
2210
+ "qpos_start": 16,
2211
+ "qpos_len": 7
2212
+ }
2213
+ ]
2214
+ },
2215
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy": {
2216
+ "nq": 23,
2217
+ "qpos_offset": 1,
2218
+ "objects": [
2219
+ {
2220
+ "name": "black_book_1",
2221
+ "joint_type": "free",
2222
+ "qpos_start": 9,
2223
+ "qpos_len": 7
2224
+ },
2225
+ {
2226
+ "name": "red_coffee_mug_1",
2227
+ "joint_type": "free",
2228
+ "qpos_start": 16,
2229
+ "qpos_len": 7
2230
+ }
2231
+ ]
2232
+ },
2233
+ "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy": {
2234
+ "nq": 30,
2235
+ "qpos_offset": 1,
2236
+ "objects": [
2237
+ {
2238
+ "name": "black_book_1",
2239
+ "joint_type": "free",
2240
+ "qpos_start": 9,
2241
+ "qpos_len": 7
2242
+ },
2243
+ {
2244
+ "name": "porcelain_mug_1",
2245
+ "joint_type": "free",
2246
+ "qpos_start": 23,
2247
+ "qpos_len": 7
2248
+ },
2249
+ {
2250
+ "name": "red_coffee_mug_1",
2251
+ "joint_type": "free",
2252
+ "qpos_start": 16,
2253
+ "qpos_len": 7
2254
+ }
2255
+ ]
2256
+ },
2257
+ "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy": {
2258
+ "nq": 30,
2259
+ "qpos_offset": 1,
2260
+ "objects": [
2261
+ {
2262
+ "name": "black_book_1",
2263
+ "joint_type": "free",
2264
+ "qpos_start": 9,
2265
+ "qpos_len": 7
2266
+ },
2267
+ {
2268
+ "name": "porcelain_mug_1",
2269
+ "joint_type": "free",
2270
+ "qpos_start": 23,
2271
+ "qpos_len": 7
2272
+ },
2273
+ {
2274
+ "name": "red_coffee_mug_1",
2275
+ "joint_type": "free",
2276
+ "qpos_start": 16,
2277
+ "qpos_len": 7
2278
+ }
2279
+ ]
2280
+ },
2281
+ "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy": {
2282
+ "nq": 30,
2283
+ "qpos_offset": 1,
2284
+ "objects": [
2285
+ {
2286
+ "name": "black_book_1",
2287
+ "joint_type": "free",
2288
+ "qpos_start": 9,
2289
+ "qpos_len": 7
2290
+ },
2291
+ {
2292
+ "name": "porcelain_mug_1",
2293
+ "joint_type": "free",
2294
+ "qpos_start": 23,
2295
+ "qpos_len": 7
2296
+ },
2297
+ {
2298
+ "name": "red_coffee_mug_1",
2299
+ "joint_type": "free",
2300
+ "qpos_start": 16,
2301
+ "qpos_len": 7
2302
+ }
2303
+ ]
2304
+ },
2305
+ "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy": {
2306
+ "nq": 30,
2307
+ "qpos_offset": 1,
2308
+ "objects": [
2309
+ {
2310
+ "name": "black_book_1",
2311
+ "joint_type": "free",
2312
+ "qpos_start": 9,
2313
+ "qpos_len": 7
2314
+ },
2315
+ {
2316
+ "name": "porcelain_mug_1",
2317
+ "joint_type": "free",
2318
+ "qpos_start": 23,
2319
+ "qpos_len": 7
2320
+ },
2321
+ {
2322
+ "name": "red_coffee_mug_1",
2323
+ "joint_type": "free",
2324
+ "qpos_start": 16,
2325
+ "qpos_len": 7
2326
+ }
2327
+ ]
2328
+ },
2329
+ "STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy": {
2330
+ "nq": 30,
2331
+ "qpos_offset": 1,
2332
+ "objects": [
2333
+ {
2334
+ "name": "black_book_1",
2335
+ "joint_type": "free",
2336
+ "qpos_start": 9,
2337
+ "qpos_len": 7
2338
+ },
2339
+ {
2340
+ "name": "porcelain_mug_1",
2341
+ "joint_type": "free",
2342
+ "qpos_start": 23,
2343
+ "qpos_len": 7
2344
+ },
2345
+ {
2346
+ "name": "red_coffee_mug_1",
2347
+ "joint_type": "free",
2348
+ "qpos_start": 16,
2349
+ "qpos_len": 7
2350
+ }
2351
+ ]
2352
+ },
2353
+ "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf": {
2354
+ "nq": 30,
2355
+ "qpos_offset": 1,
2356
+ "objects": [
2357
+ {
2358
+ "name": "black_book_1",
2359
+ "joint_type": "free",
2360
+ "qpos_start": 9,
2361
+ "qpos_len": 7
2362
+ },
2363
+ {
2364
+ "name": "yellow_book_1",
2365
+ "joint_type": "free",
2366
+ "qpos_start": 16,
2367
+ "qpos_len": 7
2368
+ },
2369
+ {
2370
+ "name": "yellow_book_2",
2371
+ "joint_type": "free",
2372
+ "qpos_start": 23,
2373
+ "qpos_len": 7
2374
+ }
2375
+ ]
2376
+ },
2377
+ "STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf": {
2378
+ "nq": 30,
2379
+ "qpos_offset": 1,
2380
+ "objects": [
2381
+ {
2382
+ "name": "black_book_1",
2383
+ "joint_type": "free",
2384
+ "qpos_start": 9,
2385
+ "qpos_len": 7
2386
+ },
2387
+ {
2388
+ "name": "yellow_book_1",
2389
+ "joint_type": "free",
2390
+ "qpos_start": 16,
2391
+ "qpos_len": 7
2392
+ },
2393
+ {
2394
+ "name": "yellow_book_2",
2395
+ "joint_type": "free",
2396
+ "qpos_start": 23,
2397
+ "qpos_len": 7
2398
+ }
2399
+ ]
2400
+ },
2401
+ "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf": {
2402
+ "nq": 30,
2403
+ "qpos_offset": 1,
2404
+ "objects": [
2405
+ {
2406
+ "name": "black_book_1",
2407
+ "joint_type": "free",
2408
+ "qpos_start": 9,
2409
+ "qpos_len": 7
2410
+ },
2411
+ {
2412
+ "name": "yellow_book_1",
2413
+ "joint_type": "free",
2414
+ "qpos_start": 16,
2415
+ "qpos_len": 7
2416
+ },
2417
+ {
2418
+ "name": "yellow_book_2",
2419
+ "joint_type": "free",
2420
+ "qpos_start": 23,
2421
+ "qpos_len": 7
2422
+ }
2423
+ ]
2424
+ },
2425
+ "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf": {
2426
+ "nq": 30,
2427
+ "qpos_offset": 1,
2428
+ "objects": [
2429
+ {
2430
+ "name": "black_book_1",
2431
+ "joint_type": "free",
2432
+ "qpos_start": 9,
2433
+ "qpos_len": 7
2434
+ },
2435
+ {
2436
+ "name": "yellow_book_1",
2437
+ "joint_type": "free",
2438
+ "qpos_start": 16,
2439
+ "qpos_len": 7
2440
+ },
2441
+ {
2442
+ "name": "yellow_book_2",
2443
+ "joint_type": "free",
2444
+ "qpos_start": 23,
2445
+ "qpos_len": 7
2446
+ }
2447
+ ]
2448
+ },
2449
+ "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it": {
2450
+ "nq": 24,
2451
+ "qpos_offset": 1,
2452
+ "objects": [
2453
+ {
2454
+ "name": "chefmate_8_frypan_1",
2455
+ "joint_type": "free",
2456
+ "qpos_start": 9,
2457
+ "qpos_len": 7
2458
+ },
2459
+ {
2460
+ "name": "moka_pot_1",
2461
+ "joint_type": "free",
2462
+ "qpos_start": 16,
2463
+ "qpos_len": 7
2464
+ }
2465
+ ]
2466
+ },
2467
+ "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it": {
2468
+ "nq": 26,
2469
+ "qpos_offset": 1,
2470
+ "objects": [
2471
+ {
2472
+ "name": "akita_black_bowl_1",
2473
+ "joint_type": "free",
2474
+ "qpos_start": 9,
2475
+ "qpos_len": 7
2476
+ },
2477
+ {
2478
+ "name": "wine_bottle_1",
2479
+ "joint_type": "free",
2480
+ "qpos_start": 16,
2481
+ "qpos_len": 7
2482
+ }
2483
+ ]
2484
+ },
2485
+ "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it": {
2486
+ "nq": 24,
2487
+ "qpos_offset": 1,
2488
+ "objects": [
2489
+ {
2490
+ "name": "porcelain_mug_1",
2491
+ "joint_type": "free",
2492
+ "qpos_start": 9,
2493
+ "qpos_len": 7
2494
+ },
2495
+ {
2496
+ "name": "white_yellow_mug_1",
2497
+ "joint_type": "free",
2498
+ "qpos_start": 16,
2499
+ "qpos_len": 7
2500
+ }
2501
+ ]
2502
+ },
2503
+ "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove": {
2504
+ "nq": 24,
2505
+ "qpos_offset": 1,
2506
+ "objects": [
2507
+ {
2508
+ "name": "moka_pot_1",
2509
+ "joint_type": "free",
2510
+ "qpos_start": 9,
2511
+ "qpos_len": 7
2512
+ },
2513
+ {
2514
+ "name": "moka_pot_2",
2515
+ "joint_type": "free",
2516
+ "qpos_start": 16,
2517
+ "qpos_len": 7
2518
+ }
2519
+ ]
2520
+ },
2521
+ "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket": {
2522
+ "nq": 44,
2523
+ "qpos_offset": 1,
2524
+ "objects": [
2525
+ {
2526
+ "name": "alphabet_soup_1",
2527
+ "joint_type": "free",
2528
+ "qpos_start": 9,
2529
+ "qpos_len": 7
2530
+ },
2531
+ {
2532
+ "name": "basket_1",
2533
+ "joint_type": "free",
2534
+ "qpos_start": 37,
2535
+ "qpos_len": 7
2536
+ },
2537
+ {
2538
+ "name": "cream_cheese_1",
2539
+ "joint_type": "free",
2540
+ "qpos_start": 16,
2541
+ "qpos_len": 7
2542
+ },
2543
+ {
2544
+ "name": "ketchup_1",
2545
+ "joint_type": "free",
2546
+ "qpos_start": 30,
2547
+ "qpos_len": 7
2548
+ },
2549
+ {
2550
+ "name": "tomato_sauce_1",
2551
+ "joint_type": "free",
2552
+ "qpos_start": 23,
2553
+ "qpos_len": 7
2554
+ }
2555
+ ]
2556
+ },
2557
+ "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket": {
2558
+ "nq": 65,
2559
+ "qpos_offset": 1,
2560
+ "objects": [
2561
+ {
2562
+ "name": "alphabet_soup_1",
2563
+ "joint_type": "free",
2564
+ "qpos_start": 9,
2565
+ "qpos_len": 7
2566
+ },
2567
+ {
2568
+ "name": "basket_1",
2569
+ "joint_type": "free",
2570
+ "qpos_start": 58,
2571
+ "qpos_len": 7
2572
+ },
2573
+ {
2574
+ "name": "butter_1",
2575
+ "joint_type": "free",
2576
+ "qpos_start": 51,
2577
+ "qpos_len": 7
2578
+ },
2579
+ {
2580
+ "name": "cream_cheese_1",
2581
+ "joint_type": "free",
2582
+ "qpos_start": 16,
2583
+ "qpos_len": 7
2584
+ },
2585
+ {
2586
+ "name": "ketchup_1",
2587
+ "joint_type": "free",
2588
+ "qpos_start": 30,
2589
+ "qpos_len": 7
2590
+ },
2591
+ {
2592
+ "name": "milk_1",
2593
+ "joint_type": "free",
2594
+ "qpos_start": 44,
2595
+ "qpos_len": 7
2596
+ },
2597
+ {
2598
+ "name": "orange_juice_1",
2599
+ "joint_type": "free",
2600
+ "qpos_start": 37,
2601
+ "qpos_len": 7
2602
+ },
2603
+ {
2604
+ "name": "tomato_sauce_1",
2605
+ "joint_type": "free",
2606
+ "qpos_start": 23,
2607
+ "qpos_len": 7
2608
+ }
2609
+ ]
2610
+ },
2611
+ "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket": {
2612
+ "nq": 65,
2613
+ "qpos_offset": 1,
2614
+ "objects": [
2615
+ {
2616
+ "name": "alphabet_soup_1",
2617
+ "joint_type": "free",
2618
+ "qpos_start": 9,
2619
+ "qpos_len": 7
2620
+ },
2621
+ {
2622
+ "name": "basket_1",
2623
+ "joint_type": "free",
2624
+ "qpos_start": 58,
2625
+ "qpos_len": 7
2626
+ },
2627
+ {
2628
+ "name": "butter_1",
2629
+ "joint_type": "free",
2630
+ "qpos_start": 51,
2631
+ "qpos_len": 7
2632
+ },
2633
+ {
2634
+ "name": "cream_cheese_1",
2635
+ "joint_type": "free",
2636
+ "qpos_start": 16,
2637
+ "qpos_len": 7
2638
+ },
2639
+ {
2640
+ "name": "ketchup_1",
2641
+ "joint_type": "free",
2642
+ "qpos_start": 30,
2643
+ "qpos_len": 7
2644
+ },
2645
+ {
2646
+ "name": "milk_1",
2647
+ "joint_type": "free",
2648
+ "qpos_start": 44,
2649
+ "qpos_len": 7
2650
+ },
2651
+ {
2652
+ "name": "orange_juice_1",
2653
+ "joint_type": "free",
2654
+ "qpos_start": 37,
2655
+ "qpos_len": 7
2656
+ },
2657
+ {
2658
+ "name": "tomato_sauce_1",
2659
+ "joint_type": "free",
2660
+ "qpos_start": 23,
2661
+ "qpos_len": 7
2662
+ }
2663
+ ]
2664
+ },
2665
+ "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate": {
2666
+ "nq": 44,
2667
+ "qpos_offset": 1,
2668
+ "objects": [
2669
+ {
2670
+ "name": "plate_1",
2671
+ "joint_type": "free",
2672
+ "qpos_start": 30,
2673
+ "qpos_len": 7
2674
+ },
2675
+ {
2676
+ "name": "plate_2",
2677
+ "joint_type": "free",
2678
+ "qpos_start": 37,
2679
+ "qpos_len": 7
2680
+ },
2681
+ {
2682
+ "name": "porcelain_mug_1",
2683
+ "joint_type": "free",
2684
+ "qpos_start": 9,
2685
+ "qpos_len": 7
2686
+ },
2687
+ {
2688
+ "name": "red_coffee_mug_1",
2689
+ "joint_type": "free",
2690
+ "qpos_start": 16,
2691
+ "qpos_len": 7
2692
+ },
2693
+ {
2694
+ "name": "white_yellow_mug_1",
2695
+ "joint_type": "free",
2696
+ "qpos_start": 23,
2697
+ "qpos_len": 7
2698
+ }
2699
+ ]
2700
+ },
2701
+ "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate": {
2702
+ "nq": 37,
2703
+ "qpos_offset": 1,
2704
+ "objects": [
2705
+ {
2706
+ "name": "chocolate_pudding_1",
2707
+ "joint_type": "free",
2708
+ "qpos_start": 30,
2709
+ "qpos_len": 7
2710
+ },
2711
+ {
2712
+ "name": "plate_1",
2713
+ "joint_type": "free",
2714
+ "qpos_start": 23,
2715
+ "qpos_len": 7
2716
+ },
2717
+ {
2718
+ "name": "porcelain_mug_1",
2719
+ "joint_type": "free",
2720
+ "qpos_start": 9,
2721
+ "qpos_len": 7
2722
+ },
2723
+ {
2724
+ "name": "red_coffee_mug_1",
2725
+ "joint_type": "free",
2726
+ "qpos_start": 16,
2727
+ "qpos_len": 7
2728
+ }
2729
+ ]
2730
+ },
2731
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy": {
2732
+ "nq": 23,
2733
+ "qpos_offset": 1,
2734
+ "objects": [
2735
+ {
2736
+ "name": "black_book_1",
2737
+ "joint_type": "free",
2738
+ "qpos_start": 9,
2739
+ "qpos_len": 7
2740
+ },
2741
+ {
2742
+ "name": "white_yellow_mug_1",
2743
+ "joint_type": "free",
2744
+ "qpos_start": 16,
2745
+ "qpos_len": 7
2746
+ }
2747
+ ]
2748
+ }
2749
+ },
2750
+ "created_by": "phaseforge.data.scripts.build_object_index",
2751
+ "created_at": 1786344180.7820413,
2752
+ "suites": [
2753
+ "libero_90",
2754
+ "libero_10"
2755
+ ],
2756
+ "k_slots_census": 8,
2757
+ "max_states_width": 65,
2758
+ "b6_max_errors": {
2759
+ "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet_and_put_the_black_bowl_on_top_of_it": 4.797596808714388e-08,
2760
+ "KITCHEN_SCENE10_close_the_top_drawer_of_the_cabinet": 2.4482128324621044e-08,
2761
+ "KITCHEN_SCENE10_put_the_black_bowl_in_the_top_drawer_of_the_cabinet": 5.8994577889492916e-08,
2762
+ "KITCHEN_SCENE10_put_the_butter_at_the_back_in_the_top_drawer_of_the_cabinet_and_close_it": 4.045343215963726e-08,
2763
+ "KITCHEN_SCENE10_put_the_butter_at_the_front_in_the_top_drawer_of_the_cabinet_and_close_it": 4.114899465612609e-08,
2764
+ "KITCHEN_SCENE10_put_the_chocolate_pudding_in_the_top_drawer_of_the_cabinet_and_close_it": 5.1093368869103983e-08,
2765
+ "KITCHEN_SCENE1_open_the_bottom_drawer_of_the_cabinet": 2.5287199223456014e-08,
2766
+ "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet_and_put_the_bowl_in_it": 5.342876496783333e-08,
2767
+ "KITCHEN_SCENE1_open_the_top_drawer_of_the_cabinet": 2.4482128324621044e-08,
2768
+ "KITCHEN_SCENE1_put_the_black_bowl_on_the_plate": 3.297954798142655e-08,
2769
+ "KITCHEN_SCENE1_put_the_black_bowl_on_top_of_the_cabinet": 4.4277563615580107e-08,
2770
+ "KITCHEN_SCENE2_open_the_top_drawer_of_the_cabinet": 2.4482128324621044e-08,
2771
+ "KITCHEN_SCENE2_put_the_black_bowl_at_the_back_on_the_plate": 3.5814982091153524e-08,
2772
+ "KITCHEN_SCENE2_put_the_black_bowl_at_the_front_on_the_plate": 2.9078436880602965e-08,
2773
+ "KITCHEN_SCENE2_put_the_middle_black_bowl_on_the_plate": 3.9184685274307185e-08,
2774
+ "KITCHEN_SCENE2_put_the_middle_black_bowl_on_top_of_the_cabinet": 5.02545829395018e-08,
2775
+ "KITCHEN_SCENE2_stack_the_black_bowl_at_the_front_on_the_black_bowl_in_the_middle": 5.621884846540581e-08,
2776
+ "KITCHEN_SCENE2_stack_the_middle_black_bowl_on_the_back_black_bowl": 2.9725699790539295e-08,
2777
+ "KITCHEN_SCENE3_put_the_frying_pan_on_the_stove": 5.173711081774002e-08,
2778
+ "KITCHEN_SCENE3_put_the_moka_pot_on_the_stove": 3.0406805295868367e-08,
2779
+ "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_frying_pan_on_it": 4.507909001638666e-08,
2780
+ "KITCHEN_SCENE3_turn_on_the_stove": 2.8314910749394073e-08,
2781
+ "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet_and_open_the_top_drawer": 2.8386836659066716e-08,
2782
+ "KITCHEN_SCENE4_close_the_bottom_drawer_of_the_cabinet": 2.9281984059714716e-08,
2783
+ "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet": 4.787001084416431e-08,
2784
+ "KITCHEN_SCENE4_put_the_black_bowl_on_top_of_the_cabinet": 5.230708333137102e-08,
2785
+ "KITCHEN_SCENE4_put_the_wine_bottle_in_the_bottom_drawer_of_the_cabinet": 5.900104782519122e-08,
2786
+ "KITCHEN_SCENE4_put_the_wine_bottle_on_the_wine_rack": 4.0625038666419755e-08,
2787
+ "KITCHEN_SCENE5_close_the_top_drawer_of_the_cabinet": 2.4482128324621044e-08,
2788
+ "KITCHEN_SCENE5_put_the_black_bowl_in_the_top_drawer_of_the_cabinet": 5.70801725885417e-08,
2789
+ "KITCHEN_SCENE5_put_the_black_bowl_on_the_plate": 3.957660510423011e-08,
2790
+ "KITCHEN_SCENE5_put_the_black_bowl_on_top_of_the_cabinet": 5.752507870049328e-08,
2791
+ "KITCHEN_SCENE5_put_the_ketchup_in_the_top_drawer_of_the_cabinet": 5.3606671102102155e-08,
2792
+ "KITCHEN_SCENE6_close_the_microwave": 2.9615881191880078e-08,
2793
+ "KITCHEN_SCENE6_put_the_yellow_and_white_mug_to_the_front_of_the_white_mug": 5.03704735699273e-08,
2794
+ "KITCHEN_SCENE7_open_the_microwave": 5.7701901479134676e-08,
2795
+ "KITCHEN_SCENE7_put_the_white_bowl_on_the_plate": 5.791196699966861e-08,
2796
+ "KITCHEN_SCENE7_put_the_white_bowl_to_the_right_of_the_plate": 5.50401344501239e-08,
2797
+ "KITCHEN_SCENE8_put_the_right_moka_pot_on_the_stove": 4.435112743728098e-08,
2798
+ "KITCHEN_SCENE8_turn_off_the_stove": 2.0914152520923324e-08,
2799
+ "KITCHEN_SCENE9_put_the_frying_pan_on_the_cabinet_shelf": 3.8565929116884945e-08,
2800
+ "KITCHEN_SCENE9_put_the_frying_pan_on_top_of_the_cabinet": 5.8447778616965707e-08,
2801
+ "KITCHEN_SCENE9_put_the_frying_pan_under_the_cabinet_shelf": 2.8314910749394073e-08,
2802
+ "KITCHEN_SCENE9_put_the_white_bowl_on_top_of_the_cabinet": 5.273010650341803e-08,
2803
+ "KITCHEN_SCENE9_turn_on_the_stove_and_put_the_frying_pan_on_it": 3.1105253039953595e-08,
2804
+ "KITCHEN_SCENE9_turn_on_the_stove": 2.8314910749394073e-08,
2805
+ "LIVING_ROOM_SCENE1_pick_up_the_alphabet_soup_and_put_it_in_the_basket": 2.9760103714693287e-08,
2806
+ "LIVING_ROOM_SCENE1_pick_up_the_cream_cheese_box_and_put_it_in_the_basket": 2.8789418404784328e-08,
2807
+ "LIVING_ROOM_SCENE1_pick_up_the_ketchup_and_put_it_in_the_basket": 2.8544857255674572e-08,
2808
+ "LIVING_ROOM_SCENE1_pick_up_the_tomato_sauce_and_put_it_in_the_basket": 2.95754365442491e-08,
2809
+ "LIVING_ROOM_SCENE2_pick_up_the_alphabet_soup_and_put_it_in_the_basket": 2.8169628185636952e-08,
2810
+ "LIVING_ROOM_SCENE2_pick_up_the_butter_and_put_it_in_the_basket": 2.8638814431047876e-08,
2811
+ "LIVING_ROOM_SCENE2_pick_up_the_milk_and_put_it_in_the_basket": 2.9196839279599374e-08,
2812
+ "LIVING_ROOM_SCENE2_pick_up_the_orange_juice_and_put_it_in_the_basket": 2.9051120509215878e-08,
2813
+ "LIVING_ROOM_SCENE2_pick_up_the_tomato_sauce_and_put_it_in_the_basket": 2.871377913216122e-08,
2814
+ "LIVING_ROOM_SCENE3_pick_up_the_alphabet_soup_and_put_it_in_the_tray": 2.9743477347743408e-08,
2815
+ "LIVING_ROOM_SCENE3_pick_up_the_butter_and_put_it_in_the_tray": 2.698343815055182e-08,
2816
+ "LIVING_ROOM_SCENE3_pick_up_the_cream_cheese_and_put_it_in_the_tray": 2.8814405750310357e-08,
2817
+ "LIVING_ROOM_SCENE3_pick_up_the_ketchup_and_put_it_in_the_tray": 2.930870923734119e-08,
2818
+ "LIVING_ROOM_SCENE3_pick_up_the_tomato_sauce_and_put_it_in_the_tray": 2.953080968648436e-08,
2819
+ "LIVING_ROOM_SCENE4_pick_up_the_black_bowl_on_the_left_and_put_it_in_the_tray": 2.878034921494077e-08,
2820
+ "LIVING_ROOM_SCENE4_pick_up_the_chocolate_pudding_and_put_it_in_the_tray": 2.7254139500776375e-08,
2821
+ "LIVING_ROOM_SCENE4_pick_up_the_salad_dressing_and_put_it_in_the_tray": 2.9785516053593142e-08,
2822
+ "LIVING_ROOM_SCENE4_stack_the_left_bowl_on_the_right_bowl_and_place_them_in_the_tray": 2.9562401637761582e-08,
2823
+ "LIVING_ROOM_SCENE4_stack_the_right_bowl_on_the_left_bowl_and_place_them_in_the_tray": 2.971948553920356e-08,
2824
+ "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_left_plate": 2.9300342596627615e-08,
2825
+ "LIVING_ROOM_SCENE5_put_the_red_mug_on_the_right_plate": 2.9300342596627615e-08,
2826
+ "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate": 2.9300342596627615e-08,
2827
+ "LIVING_ROOM_SCENE5_put_the_yellow_and_white_mug_on_the_right_plate": 2.954168731861273e-08,
2828
+ "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_left_of_the_plate": 2.9327631434483692e-08,
2829
+ "LIVING_ROOM_SCENE6_put_the_chocolate_pudding_to_the_right_of_the_plate": 2.9300342596627615e-08,
2830
+ "LIVING_ROOM_SCENE6_put_the_red_mug_on_the_plate": 2.9578339000302378e-08,
2831
+ "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate": 2.970436674409882e-08,
2832
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy": 4.0085374131137996e-08,
2833
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy": 2.9439846560563865e-08,
2834
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy": 5.1528482147844556e-08,
2835
+ "STUDY_SCENE1_pick_up_the_yellow_and_white_mug_and_place_it_to_the_right_of_the_caddy": 3.05198391004069e-08,
2836
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy": 5.835944061338694e-08,
2837
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy": 5.779403977612674e-08,
2838
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy": 5.346090281577176e-08,
2839
+ "STUDY_SCENE2_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy": 5.913021117187611e-08,
2840
+ "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_front_compartment_of_the_caddy": 4.860625013591857e-08,
2841
+ "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_left_compartment_of_the_caddy": 5.623705190416217e-08,
2842
+ "STUDY_SCENE3_pick_up_the_book_and_place_it_in_the_right_compartment_of_the_caddy": 5.693723803545936e-08,
2843
+ "STUDY_SCENE3_pick_up_the_red_mug_and_place_it_to_the_right_of_the_caddy": 4.020707478069596e-08,
2844
+ "STUDY_SCENE3_pick_up_the_white_mug_and_place_it_to_the_right_of_the_caddy": 3.496636202804382e-08,
2845
+ "STUDY_SCENE4_pick_up_the_book_in_the_middle_and_place_it_on_the_cabinet_shelf": 5.498048527563526e-08,
2846
+ "STUDY_SCENE4_pick_up_the_book_on_the_left_and_place_it_on_top_of_the_shelf": 5.707560957191049e-08,
2847
+ "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_on_the_cabinet_shelf": 3.8234206023446404e-08,
2848
+ "STUDY_SCENE4_pick_up_the_book_on_the_right_and_place_it_under_the_cabinet_shelf": 2.9800964473913893e-08,
2849
+ "KITCHEN_SCENE3_turn_on_the_stove_and_put_the_moka_pot_on_it": 4.314209745004405e-08,
2850
+ "KITCHEN_SCENE4_put_the_black_bowl_in_the_bottom_drawer_of_the_cabinet_and_close_it": 5.2480978895985686e-08,
2851
+ "KITCHEN_SCENE6_put_the_yellow_and_white_mug_in_the_microwave_and_close_it": 2.859025627355294e-08,
2852
+ "KITCHEN_SCENE8_put_both_moka_pots_on_the_stove": 3.816595395278455e-08,
2853
+ "LIVING_ROOM_SCENE1_put_both_the_alphabet_soup_and_the_cream_cheese_box_in_the_basket": 2.8927646278376073e-08,
2854
+ "LIVING_ROOM_SCENE2_put_both_the_alphabet_soup_and_the_tomato_sauce_in_the_basket": 2.972051393879127e-08,
2855
+ "LIVING_ROOM_SCENE2_put_both_the_cream_cheese_box_and_the_butter_in_the_basket": 2.894606199177474e-08,
2856
+ "LIVING_ROOM_SCENE5_put_the_white_mug_on_the_left_plate_and_put_the_yellow_and_white_mug_on_the_right_plate": 2.9408809276709746e-08,
2857
+ "LIVING_ROOM_SCENE6_put_the_white_mug_on_the_plate_and_put_the_chocolate_pudding_to_the_right_of_the_plate": 2.9300342596627615e-08,
2858
+ "STUDY_SCENE1_pick_up_the_book_and_place_it_in_the_back_compartment_of_the_caddy": 5.8907714928224664e-08
2859
+ }
2860
+ }