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+demonstration_configs:
+- domain_randomization: &id003
+    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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: orange
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: orange
+            type: object_frame
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+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple_01
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple_01
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
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+            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
+            grasp: false
+            rel_object_uid: cup
+            type: object_frame
+          - name: right
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+            grasp: false
+            rel_object_uid: cup
+            type: object_frame
+          - name: right
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+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            rel_arm: left
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        arm: right
+        grasp: true
+        rel_object_uid: container
+        delta_position:
+          x: null
+          y: -0.1
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.2, 0.17, 0.2]
+            orientation: [0.803, -0.464, 0.325, -0.187]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - &id005
+        obj1_uid:
+        - apple
+        obj2_uid:
+        - container
+        position:
+        - in
+      - &id006
+        obj1_uid:
+        - apple_01
+        obj2_uid:
+        - container
+        position:
+        - in
+      - obj1_uid:
+        - orange
+        obj2_uid:
+        - container
+        position:
+        - in
+      - type: manip/default/sr_based_genmanip_axis_align
+        obj1_uid: cup
+        obj2_uid: container
+        obj1_axis: y
+        obj2_axis: y
+        comparison: '>='
+        threshold_deg: 40.0
+      - type: manip/default/sr_based_genmanip_range
+        obj1_uid: cup
+        x_type: relative
+        y_type: relative
+        z_type: relative
+        x_range: [-0.04, 0.14]
+        y_range: [-0.08, 0.05]
+        z_range: [0.1, 0.3]
+        x_rel_object_uid: container
+        y_rel_object_uid: container
+        z_rel_object_uid: container
+    mode: manual
+    planner: curobo
+  instruction: Make a fruit milkshake in the cup.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - apple:
+        position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      apple_01:
+        position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      orange:
+        position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      container:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      cup:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      mango:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config: &id010
+    mango:
+      type: existed_object
+      uid_list:
+      - mango
+      is_not_rigid: true
+      without_colliders: true
+    apple:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    orange:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    apple_01:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    container:
+      type: existed_object
+      uid_list:
+      - container
+      is_not_rigid: true
+      without_colliders: true
+    cup:
+      type: existed_object
+      uid_list:
+      - cup
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.15, -0.8, 0.2]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/fruit
+  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.15, -0.8, 0.2]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/fruit
+  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene

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

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

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

@@ -0,0 +1,466 @@
+demonstration_configs:
+- domain_randomization: &id003
+    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_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: orange
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: orange
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple_01
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple_01
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.2, 0.18, 0.0]
+            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
+            grasp: false
+            rel_object_uid: cup
+            type: object_frame
+          - name: right
+            translation: [0.144852, 0.124954, 0.0]
+            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
+            grasp: false
+            rel_object_uid: cup
+            type: object_frame
+          - name: right
+            translation: [0.2, 0.0, 0.3]
+            orientation: [0.927, 0.0, 0.375, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            rel_arm: left
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        arm: right
+        grasp: true
+        rel_object_uid: container
+        delta_position:
+          x: null
+          y: -0.1
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.2, 0.17, 0.2]
+            orientation: [0.803, -0.464, 0.325, -0.187]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - &id005
+        obj1_uid:
+        - apple
+        obj2_uid:
+        - container
+        position:
+        - in
+      - &id006
+        obj1_uid:
+        - apple_01
+        obj2_uid:
+        - container
+        position:
+        - in
+      - obj1_uid:
+        - orange
+        obj2_uid:
+        - container
+        position:
+        - in
+      - type: manip/default/sr_based_genmanip_axis_align
+        obj1_uid: cup
+        obj2_uid: container
+        obj1_axis: y
+        obj2_axis: y
+        comparison: '>='
+        threshold_deg: 40.0
+      - type: manip/default/sr_based_genmanip_range
+        obj1_uid: cup
+        x_type: relative
+        y_type: relative
+        z_type: relative
+        x_range: [-0.04, 0.14]
+        y_range: [-0.08, 0.05]
+        z_range: [0.1, 0.3]
+        x_rel_object_uid: container
+        y_rel_object_uid: container
+        z_rel_object_uid: container
+    mode: manual
+    planner: curobo
+  instruction: Make a fruit milkshake in the cup.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - apple:
+        position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      apple_01:
+        position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      orange:
+        position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      container:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      cup:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      mango:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config: &id010
+    mango:
+      type: existed_object
+      uid_list:
+      - mango
+      is_not_rigid: true
+      without_colliders: true
+    apple:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    orange:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    apple_01:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    container:
+      type: existed_object
+      uid_list:
+      - container
+      is_not_rigid: true
+      without_colliders: true
+    cup:
+      type: existed_object
+      uid_list:
+      - cup
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.15, -0.8, 0.2]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/fruit
+  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.15, -0.8, 0.2]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/fruit
+  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene

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

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