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tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/000/lmdb/info.json

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+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/003/lmdb/info.json

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+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/008/lmdb/info.json

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+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/009/lmdb/info.json

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+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dishwasher/000/config.yaml

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+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/001/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/002/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/003/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/004/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/005/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/006/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/007/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/010/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/011/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/012/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/013/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/015/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/016/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/017/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/018/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/019/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/020/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/021/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/022/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/023/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/024/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/025/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/026/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/027/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/028/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/029/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/030/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/031/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/033/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/034/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/035/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/036/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/037/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/038/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/039/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/040/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/041/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/042/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/043/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/044/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene

tasks/ebench/mobile_manip/dishwasher/045/config.yaml

@@ -0,0 +1,394 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene