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tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/config.yaml

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+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/001/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/002/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/003/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/004/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/005/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/006/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/007/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/008/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    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
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_val_train_20p/009/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/000/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/000/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/001/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/001/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/002/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/002/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/003/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/003/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/004/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/004/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/005/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/005/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}

tasks/ebench/mobile_manip/dish_val_train_20p/006/config.yaml

@@ -0,0 +1,588 @@
+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/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene

tasks/ebench/mobile_manip/dish_val_train_20p/006/lmdb/info.json

@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}