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      "task_id": "hanoi_floating/floating-sharpa/H01",
      "index": "Tower-14",
      "suite": "Tower",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Top-ring transfer",
      "embodiment": "Floating Sharpa hand"
    },
    {
      "task_id": "hanoi_floating/floating-sharpa/H02",
      "index": "Tower-15",
      "suite": "Tower",
      "split": "Hard",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Local two-ring transfer",
      "embodiment": "Floating Sharpa hand"
    },
    {
      "task_id": "hanoi_floating/floating-sharpa/H09",
      "index": "Tower-16",
      "suite": "Tower",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Low-to-high platform",
      "embodiment": "Floating Sharpa hand"
    },
    {
      "task_id": "hanoi_floating/floating-sharpa/H25",
      "index": "Tower-17",
      "suite": "Tower",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Single tilted handle",
      "embodiment": "Floating Sharpa hand"
    },
    {
      "task_id": "hanoi_sharpa/fr3-sharpa/H01",
      "index": "Tower-18",
      "suite": "Tower",
      "split": "Easy",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.25,
      "type": "Dex",
      "title": "Top-ring transfer",
      "embodiment": "FR3 + Sharpa hand"
    },
    {
      "task_id": "hanoi_sharpa/fr3-sharpa/H02",
      "index": "Tower-19",
      "suite": "Tower",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Local two-ring transfer",
      "embodiment": "FR3 + Sharpa hand"
    },
    {
      "task_id": "hanoi_sharpa/fr3-sharpa/H09",
      "index": "Tower-20",
      "suite": "Tower",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.25,
      "pass_at_2": 0.25,
      "type": "Dex",
      "title": "Low-to-high platform",
      "embodiment": "FR3 + Sharpa hand"
    },
    {
      "task_id": "hanoi_sharpa/fr3-sharpa/H25",
      "index": "Tower-21",
      "suite": "Tower",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.25,
      "type": "Dex",
      "title": "Single tilted handle",
      "embodiment": "FR3 + Sharpa hand"
    },
    {
      "task_id": "kongming_lock/dual-panda/A01",
      "index": "Lock-01",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Assemble",
      "title": "Assemble full lock",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/A06",
      "index": "Lock-02",
      "suite": "Lock",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.25,
      "pass_at_2": 0.25,
      "type": "Assemble",
      "title": "Assemble key",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/A11",
      "index": "Lock-03",
      "suite": "Lock",
      "split": "Easy",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Assemble",
      "title": "Assemble key + bar",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/A04",
      "index": "Lock-04",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Assemble",
      "title": "Assemble full lock",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/A09",
      "index": "Lock-05",
      "suite": "Lock",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.25,
      "pass_at_2": 0.75,
      "type": "Assemble",
      "title": "Assemble key",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/A14",
      "index": "Lock-06",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Assemble",
      "title": "Assemble key + bar",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/D01",
      "index": "Lock-07",
      "suite": "Lock",
      "split": "Hard",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Disassemble",
      "title": "Disassemble full lock",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/D06",
      "index": "Lock-08",
      "suite": "Lock",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.5,
      "pass_at_2": 1.0,
      "type": "Disassemble",
      "title": "Disassemble key",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/D11",
      "index": "Lock-09",
      "suite": "Lock",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Disassemble",
      "title": "Disassemble key + bar",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/D04",
      "index": "Lock-10",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Disassemble",
      "title": "Disassemble full lock",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/D09",
      "index": "Lock-11",
      "suite": "Lock",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.25,
      "type": "Disassemble",
      "title": "Disassemble key",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-panda/D14",
      "index": "Lock-12",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Disassemble",
      "title": "Disassemble key + bar",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "kongming_lock/dual-floating-sharpa/A01",
      "index": "Lock-13",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Assemble full lock",
      "embodiment": "Dual floating Sharpa hands"
    },
    {
      "task_id": "kongming_lock/dual-floating-sharpa/A06",
      "index": "Lock-14",
      "suite": "Lock",
      "split": "Easy",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Assemble key",
      "embodiment": "Dual floating Sharpa hands"
    },
    {
      "task_id": "kongming_lock/dual-floating-sharpa/D01",
      "index": "Lock-15",
      "suite": "Lock",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Disassemble full lock",
      "embodiment": "Dual floating Sharpa hands"
    },
    {
      "task_id": "kongming_lock/dual-floating-sharpa/D06",
      "index": "Lock-16",
      "suite": "Lock",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dex",
      "title": "Disassemble key",
      "embodiment": "Dual floating Sharpa hands"
    },
    {
      "task_id": "rubiks_panda/panda/C01",
      "index": "Cube-01",
      "suite": "Cube",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C01",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "rubiks_panda/panda/C02",
      "index": "Cube-02",
      "suite": "Cube",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C02",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "rubiks_panda/panda/C03",
      "index": "Cube-03",
      "suite": "Cube",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C03",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "rubiks_sharpa/floating-sharpa/C01",
      "index": "Cube-04",
      "suite": "Cube",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C01",
      "embodiment": "Floating Sharpa hand"
    },
    {
      "task_id": "rubiks_sharpa/floating-sharpa/C02",
      "index": "Cube-05",
      "suite": "Cube",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C02",
      "embodiment": "Floating Sharpa hand"
    },
    {
      "task_id": "rubiks_panda/panda/C11",
      "index": "Cube-06",
      "suite": "Cube",
      "split": "Hard",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C11",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "rubiks_panda/panda/C12",
      "index": "Cube-07",
      "suite": "Cube",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C12",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "rubiks_panda/panda/C21",
      "index": "Cube-08",
      "suite": "Cube",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Rubik",
      "title": "Solve scramble C21",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "pocket_cube/aloha/C01",
      "index": "Cube-09",
      "suite": "Cube",
      "split": "Easy",
      "ep20": true,
      "pass_at_1": 0.25,
      "pass_at_2": 0.25,
      "type": "Pocket",
      "title": "Clockwise top turn",
      "embodiment": "Dual ALOHA grippers"
    },
    {
      "task_id": "pocket_cube/dual-sharpa/C01",
      "index": "Cube-10",
      "suite": "Cube",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Pocket",
      "title": "Clockwise top turn",
      "embodiment": "Dual floating Sharpa hands"
    },
    {
      "task_id": "pocket_cube/aloha/C08",
      "index": "Cube-11",
      "suite": "Cube",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Pocket",
      "title": "Half-turn in two stages",
      "embodiment": "Dual ALOHA grippers"
    },
    {
      "task_id": "pocket_cube/dual-sharpa/C08",
      "index": "Cube-12",
      "suite": "Cube",
      "split": "Hard",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Pocket",
      "title": "Half-turn in two stages",
      "embodiment": "Dual floating Sharpa hands"
    },
    {
      "task_id": "bookshelf/dual-panda/BooksTableD1",
      "index": "Home-01",
      "suite": "Home",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Tidy",
      "title": "Three upright books onto the middle shelf",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "bookshelf/dual-panda/ShelfCrateD1",
      "index": "Home-02",
      "suite": "Home",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Tidy",
      "title": "Unpack a neatly packed crate",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "bookshelf/dual-panda/ShelfCrateFixD1",
      "index": "Home-03",
      "suite": "Home",
      "split": "Hard",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Tidy",
      "title": "One book on the wrong layer of a tidy shelf",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "bookshelf/dual-panda/ShelfTableD1",
      "index": "Home-04",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Tidy",
      "title": "Books, a trophy and one box",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "bookshelf/dual-panda/TableCleanD1",
      "index": "Home-05",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Tidy",
      "title": "Three books and two pieces of trash",
      "embodiment": "Dual Franka Panda"
    },
    {
      "task_id": "maniskill_long_horizon/fetch/L1",
      "index": "Home-06",
      "suite": "Home",
      "split": "Easy",
      "ep20": true,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Long",
      "title": "Prepare a shared writing desk",
      "embodiment": "Fetch mobile manipulator"
    },
    {
      "task_id": "maniskill_long_horizon/fetch/L3",
      "index": "Home-07",
      "suite": "Home",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Long",
      "title": "Prepare a tea station for two",
      "embodiment": "Fetch mobile manipulator"
    },
    {
      "task_id": "maniskill_long_horizon/fetch/L5",
      "index": "Home-08",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Long",
      "title": "Unload cups and cutlery from the dishwasher",
      "embodiment": "Fetch mobile manipulator"
    },
    {
      "task_id": "maniskill_long_horizon/fetch/L6",
      "index": "Home-09",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Long",
      "title": "Pack a picnic basket",
      "embodiment": "Fetch mobile manipulator"
    },
    {
      "task_id": "maniskill_geometry/panda/P1",
      "index": "Home-10",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.25,
      "pass_at_2": 0.75,
      "type": "Precise",
      "title": "Insert three matching pegs",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_geometry/panda/P3",
      "index": "Home-11",
      "suite": "Home",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.25,
      "type": "Precise",
      "title": "Seat a keyed electronics connector",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_geometry/panda/P5",
      "index": "Home-12",
      "suite": "Home",
      "split": "Hard",
      "ep20": true,
      "pass_at_1": 1.0,
      "pass_at_2": 1.0,
      "type": "Precise",
      "title": "Hang a mug by its handle",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_geometry/panda/P7",
      "index": "Home-13",
      "suite": "Home",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Precise",
      "title": "Insert a book into a narrow shelf gap",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_dynamics/panda/D1",
      "index": "Home-14",
      "suite": "Home",
      "split": "Easy",
      "ep20": true,
      "pass_at_1": 0.75,
      "pass_at_2": 0.75,
      "type": "Dynamic",
      "title": "Stop a rolling orange",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_dynamics/panda/D5",
      "index": "Home-15",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dynamic",
      "title": "Push a tall bottle without tipping",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_dynamics/panda/D6",
      "index": "Home-16",
      "suite": "Home",
      "split": "Hard",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dynamic",
      "title": "Close a loaded drawer gently",
      "embodiment": "Franka Panda"
    },
    {
      "task_id": "maniskill_dynamics/panda/D3",
      "index": "Home-17",
      "suite": "Home",
      "split": "Easy",
      "ep20": false,
      "pass_at_1": 0.0,
      "pass_at_2": 0.0,
      "type": "Dynamic",
      "title": "Slide a puck into a scoring zone",
      "embodiment": "Franka Panda"
    }
  ]
}