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@@ -1682,3 +1682,170 @@ tasks/ebench/mobile_manip/bowl_to_plate_val_train/001/lmdb/data.mdb filter=lfs d
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tasks/ebench/mobile_manip/apple_from_shelf_test_mini/000/config.yaml

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

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

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/010/lmdb/info.json

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/011/lmdb/info.json

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/012/lmdb/info.json

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/013/lmdb/info.json

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/train/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_train
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/014/lmdb/info.json

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/015/lmdb/info.json

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

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

@@ -0,0 +1,162 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.4
+          y: -0.1
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.28472137975155554, 0.2764634066382545, 0.07244383651972086]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.2, 0.25, 0.07]
+            orientation: [0.5098302157052207, -0.48997211843172683, 0.5098307546129597, -0.48997252572391653]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.11439047412316561, 0.1256117279753684, -0.002450630488143535]
+            orientation: [-0.643295774204106, 0.6433818028780245, -0.2932065465428006, 0.2937010787876126]
+            grasp: false
+          - name: right
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [-0.1, 0.2, 0.05]
+            orientation: [0.707, -0.612, 0.354, 0]
+            grasp: true
+      - type: move_to
+        move_type: delta
+        arm: right
+        grasp: true
+        delta_position:
+          x: -0.3
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - type: manip/default/sr_based_genmanip_range
+        obj1_uid: '0'
+        x_type: absolute
+        x_range: [-10,-2.0]
+        y_type: none
+        z_type: absolute
+        z_range: [-1,10]
+    mode: manual
+    planner: curobo
+  instruction: Pick up the apple from the shelf and take it out.    # update instruction
+  layout_config: &id003
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - 0: &id090
+        pos_x: -1.897
+        pos_y: -1.55
+        pos_z: 0.31
+        additional_height: 0
+        random_range_angle: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        type: fixed_global_range
+        skip_on_table_check: true
+      2: &id092
+        pos_x: -1.932
+        pos_y: -1.55
+        pos_z: -0.08
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+      3: &id093
+        pos_x: -1.816
+        pos_y: -1.917
+        pos_z: -0.1
+        additional_height: 0
+        orientation: [0.70710677, 0.70710677, 0.0 , 0.0 ]
+        reset_orientation: true
+        random_range_angle: 0
+        type: fixed_global_range
+        skip_on_table_check: true
+    - 0: *id092
+      2: *id093
+      3: *id090
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_0'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/apple/ready/.*\\.usd$"
+      relative_scale: 0.8
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03_01'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '_07'    # juice
+    '3':
+      type: existed_object
+      uid_list:
+      - '_02_01'    # orange
+  preprocess_config: []
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-3.0, -1.37, -0.45]  # update to fit the scene
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task8_eval
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the apple from the shelf and take it out."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 600
+  object_config: *id004
+  preprocess_config: []
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task8_obj
+  usd_name: scene_usds/ebench/simple_pnp/task8/scene