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+size 2211840

tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/013/lmdb/data.mdb

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+size 2211840

tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/014/lmdb/data.mdb

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+size 1978368

tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/017/lmdb/data.mdb

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+size 2277376

tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/018/lmdb/data.mdb

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+size 2215936

tasks/ebench/mobile_manip/apple_to_fruit_bowl_test_mini/019/lmdb/data.mdb

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+version https://git-lfs.github.com/spec/v1
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+size 2334720

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark3\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark3\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark3\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark1\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

tasks/ebench/mobile_manip/bookmark_on_book_test_mini/014/config.yaml

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark3\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark3\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,179 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark1\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

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

@@ -0,0 +1,180 @@
+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: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      # path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      path: "regex:bookmark1\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_fix
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene

tasks/ebench/mobile_manip/bottle_val_train/000/lmdb/data.mdb

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tasks/ebench/mobile_manip/bottle_val_train/000/meta_info.pkl

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tasks/ebench/mobile_manip/bottle_val_train/001/lmdb/data.mdb

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tasks/ebench/mobile_manip/bottle_val_train/001/meta_info.pkl

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