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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+{"observation/articulation_mapping": {}}

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

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+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/layout/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # ================================== left detergent ===================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [0.25, -0.05, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true 
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+
+      # ================================== right detergent ==================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.2, -0.4]
+            orientation: [0.5, -0.5, -0.5, -0.5]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          right:
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+      # ================================== mid detergent ==================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [0.25, -0.05, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          right:
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - detergent1
+        obj2_uid:
+        - basket
+        position:
+        - top
+      - obj1_uid:
+        - detergent2
+        obj2_uid:
+        - basket
+        position:
+        - top
+      - obj1_uid:
+        - detergent3
+        obj2_uid:
+        - basket
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the detergents into the basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - detergent1:
+        position: [0.90, 0.17, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.15
+        h: 0.15
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+      detergent2:
+        position: [0.80, 0.07, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.15
+        h: 0.15
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+      detergent3:
+        position: [0.80, 0.26, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.1
+        h: 0.1
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    detergent1:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    detergent2:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    detergent3:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    basket:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.2, 0.0, 0.27]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/detergent
+  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 100
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.1, 0.0, 0.27]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/detergent
+  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene

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

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+{"observation/articulation_mapping": {}}

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

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+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/layout/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # ================================== left detergent ===================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [0.25, -0.05, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true 
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+
+      # ================================== right detergent ==================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.2, -0.4]
+            orientation: [0.5, -0.5, -0.5, -0.5]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          right:
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+      # ================================== mid detergent ==================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [0.25, -0.05, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          right:
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - detergent1
+        obj2_uid:
+        - basket
+        position:
+        - top
+      - obj1_uid:
+        - detergent2
+        obj2_uid:
+        - basket
+        position:
+        - top
+      - obj1_uid:
+        - detergent3
+        obj2_uid:
+        - basket
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the detergents into the basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - detergent1:
+        position: [0.90, 0.17, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.15
+        h: 0.15
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+      detergent2:
+        position: [0.80, 0.07, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.15
+        h: 0.15
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+      detergent3:
+        position: [0.80, 0.26, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.1
+        h: 0.1
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    detergent1:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    detergent2:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    detergent3:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    basket:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.2, 0.0, 0.27]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/detergent
+  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 100
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.1, 0.0, 0.27]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/detergent
+  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene

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

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

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

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

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

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

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

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

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

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

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

@@ -0,0 +1,457 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/layout/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_detergent/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_e94205b7fdaa4000170a2a5_index120274/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/layout/Meshes/BaseAnimation/cabinet/model_8501f1c9aca40c19149a452243e223e8_0/Looks/_d33c408b5cb690001741df5_index119129/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # ================================== left detergent ===================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: left
+            translation: [0.25, -0.05, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent2
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true 
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+
+      # ================================== right detergent ==================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.2, -0.4]
+            orientation: [0.5, -0.5, -0.5, -0.5]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          right:
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent3
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+      # ================================== mid detergent ==================================
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.14, 0.15, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [-0.14, 0.04, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: left
+            translation: [0.25, -0.05, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          right:
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.2, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: false
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.25, 0.0, 0.28]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+          right:
+          - name: right
+            translation: [0.14, -0.03, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.14, 0.02, 0.0]
+            orientation: [0.0, 0.0, 0.70711, 0.70711]
+            grasp: true
+            rel_object_uid: detergent1
+            type: object_frame
+          - name: right
+            translation: [-0.2, 0.25, 0.0]
+            orientation: [0.70711, -0.70711, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: true
+            rel_object_uid: basket
+            type: object_frame
+          - name: right
+            translation: [-0.14, 0.21, 0.0]
+            orientation: [0.6532814824381883, -0.6532814824381883, 0.2705980500730985, -0.2705980500730985]
+            grasp: false 
+            rel_object_uid: basket
+            type: object_frame
+
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - detergent1
+        obj2_uid:
+        - basket
+        position:
+        - top
+      - obj1_uid:
+        - detergent2
+        obj2_uid:
+        - basket
+        position:
+        - top
+      - obj1_uid:
+        - detergent3
+        obj2_uid:
+        - basket
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the detergents into the basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - detergent1:
+        position: [0.90, 0.17, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.15
+        h: 0.15
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+      detergent2:
+        position: [0.80, 0.07, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.15
+        h: 0.15
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+      detergent3:
+        position: [0.80, 0.26, 1.1]
+        orientation: [0.70711, 0.70711, 0.0, 0.0]
+        reset_orientation: true
+        w: 0.1
+        h: 0.1
+        angle: 0
+        buffer_size: 0.05
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    detergent1:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    detergent2:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    detergent3:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_detergent/detergent/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 1.0
+      mass: 0.1
+      option:
+      - plain_replace
+    basket:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.2, 0.0, 0.27]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/detergent
+  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 100
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.1, 0.0, 0.27]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/detergent
+  usd_name: scene_usds/ebench/long_horizon/scene_detergent/scene

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

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

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

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

tasks/ebench/mobile_manip/detergent/016/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/017/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/018/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/019/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/020/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/021/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/022/lmdb/info.json

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

tasks/ebench/mobile_manip/detergent/023/lmdb/info.json

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