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+{"observation/articulation_mapping": {}}
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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+{"observation/articulation_mapping": {}}
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diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
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diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..98a6bff95f03c3a9204f050fac3cb173e8d3a299
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..74a07b795a5e3b7aabfafa442217fa02ff9c7e29
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cff064c5fa6924573a53d45c3aeaed0209666af1
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/005/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..98a6bff95f03c3a9204f050fac3cb173e8d3a299
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/006/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..74a07b795a5e3b7aabfafa442217fa02ff9c7e29
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/007/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c9d8ed099bb947ccb84c2d353e227e4a979e4ee7
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/008/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..99f10bc1dd944d91dc6eb0d9e9b69afc4a0bd7ee
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/config.yaml
@@ -0,0 +1,179 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        fixed_position: true
+        allow_fixed_grasp: true    # must keep fixed to grasp bookmark
+        force_fixed_grasp: true
+        gripper_rot_config:
+          axis: z
+          angle: 0
+          apply_in_relative_grasp: true
+          compensate_obj1_yaw: true
+        arm: auto
+        grasp_idx: [0, 1, 2, 3, 4]
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        # motion_config:
+        #   grasp_distance: 0.005
+    mode: manual
+    planner: curobo
+  instruction: put the bookmark on the top of the book.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 1.0
+        random_range_y: -2.8
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # reset_orientation: false
+        # orientation:
+        # - 0.0
+        # - 1.0
+        # - 0.0
+        # - 0.0
+        buffer_size: 0.05
+        type: global_range
+      '1':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '2':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '3':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '4':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+      '5':
+        type: centric_range
+        angle_bilateral: true
+        angle: 15
+        w: 0.06
+        h: 0.06
+        buffer_size: 0.0
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '14'    # update uid
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/bookmark/ready/.*\\.usd$"
+      relative_scale: 1
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '03'    # update uid
+    '2':
+      type: existed_object
+      uid_list:
+      - '04'    # update uid
+    '3':
+      type: existed_object
+      uid_list:
+      - '05'    # update uid
+    '4':
+      type: existed_object
+      uid_list:
+      - '02'    # update uid
+    '5':
+      type: existed_object
+      uid_list:
+      - '01'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.49, -3.1, -0.38]  # update to fit the scene
+    # orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task2_ready
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Place the bookmark on top of the book."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task2_obj
+  usd_name: scene_usds/ebench/simple_pnp/task2/scene
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..c9d8ed099bb947ccb84c2d353e227e4a979e4ee7
Binary files /dev/null and b/tasks/ebench/mobile_manip/bookmark_on_book_val_train_20p/009/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/000/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/000/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
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c
Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/001/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/001/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
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c
Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/002/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/002/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
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c
Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/003/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/003/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
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c
Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/004/config.yaml b/tasks/ebench/mobile_manip/detergent_val_train/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7d927a024657e05a77eb7b830e79cafd2eb82934
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/004/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
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/detergent_val_train/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/detergent_val_train/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/detergent_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/detergent_val_train/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..b5820877775693394915a9065f341e9b870b2b0c
Binary files /dev/null and b/tasks/ebench/mobile_manip/detergent_val_train/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/000/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/000/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/001/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/001/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/002/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/002/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/003/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/003/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/004/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/004/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/005/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/005/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/005/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/006/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/006/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/006/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/007/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/007/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/007/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/008/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/008/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/008/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/009/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/009/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/009/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/010/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/010/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/010/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/010/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/010/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/010/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/010/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/011/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/011/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/011/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/011/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/011/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/011/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/011/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/012/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/012/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/012/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/012/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/012/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/012/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/012/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/013/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/013/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/013/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/013/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/013/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/013/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/013/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/014/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/014/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/014/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/014/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/015/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/015/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/015/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/015/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/015/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/015/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/015/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/016/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/016/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/016/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/016/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/016/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/016/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc88a8523876ee3a18a9200f4a9ef170635a8da8
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/016/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/017/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/017/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/017/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/017/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/018/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/018/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/018/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/018/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/018/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/018/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/018/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/019/config.yaml b/tasks/ebench/mobile_manip/dish_test_mini/019/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..34409ad30a05eef8720d4bd3da7a6b647ffac19e
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/019/config.yaml
@@ -0,0 +1,588 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f7ae59d0001df77ef/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_9938e4a048e8362cb22105425b506d4a_0/Looks/_512fb5f80db560001884c36/Num613e3bde3e8f6d0001279e90
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_dish1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish2/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish2_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_dish3/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/dish3_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_glass/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dish/textures/glass_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # =========================== dish3 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish3
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null 
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish3
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish3
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.12]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish1 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish1
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish1
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish1
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.18, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # =========================== dish2 ==========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: dish2
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.2, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.15, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: dish2
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.3, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: dish2
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.0, 0.27, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.19, 0.1]
+            orientation: [0.40557978767263886, 0.5792279653395692, -0.40557978767263886, -0.5792279653395692]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+
+      # =========================== glass ===========================
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: glass
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.23, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.16, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: glass
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.28, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: glass
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_big
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [0.05, 0.27, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: true
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            translation: [0.05, 0.22, 0.05]
+            orientation: [-0.09229595564125714, -0.560985526796931, 0.7010573846499779, 0.43045933457687946]
+            grasp: false
+            rel_object_uid: basket_big
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            type: reset
+      # ================= back to original position===================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.2
+      #     yaw: 0.0
+
+      # ============================================================
+      # ============================================================
+
+      # =========================== fork ===========================
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.3
+      #     yaw: 0.0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.0, 0.2, 0.01]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: false
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.154, 0.02]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.7044160264027587, -0.06162841671621935, -0.06162841671621935, -0.7044160264027587]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.0, 0.3, 0.015]
+      #       orientation: [0.70711, 0.0, 0.0, -0.70711]
+      #       # orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+      #       grasp: true
+      #       rel_object_uid: fork
+      #       type: object_frame   
+      # - type: move_to
+      #   move_type: delta
+      #   arm: right
+      #   grasp: true
+      #   delta_position:
+      #     x: 0.0
+      #     y: -0.3
+      #     yaw: 0
+      # - type: custom_motion
+      #   motion_list:
+      #     right:
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: true
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       translation: [0.07, 0.2, 0.0]
+      #       orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+      #       grasp: false
+      #       rel_object_uid: basket_small
+      #       type: object_frame
+      #     - name: right
+      #       cnt: 50
+      #       grasp: false
+      #       type: reset
+      # =========================== Spoon ===========================
+      - type: move_to
+        move_type: dalignv2
+        rel_object_uid: spoon
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: false
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.155, 0.025]
+            orientation: [0.70711, 0.0, 0.0, -0.70711]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.025]
+            orientation: [0.6532814824381883, -0.2705980500730985, -0.2705980500730985, -0.6532814824381883]
+            grasp: true
+            rel_object_uid: spoon
+            type: object_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: basket_small
+        arm: right
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: true
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            translation: [0.07, 0.2, 0.0]
+            orientation: [0.3535533905932738, 0.3535533905932738, -0.6123724356957945, -0.6123724356957945]
+            grasp: false
+            rel_object_uid: basket_small
+            type: object_frame
+          - name: right
+            cnt: 50
+            grasp: false
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - dish1
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish2
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - dish3
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - glass
+        obj2_uid:
+        - basket_big
+        position:
+        - top
+      - obj1_uid:
+        - spoon
+        obj2_uid:
+        - basket_small
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Put all the dishes into the big basket and the spoon into the small basket.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - dish1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.02
+      dish2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      dish3:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      glass:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.03
+      spoon:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_big:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      basket_small:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    dish1:
+      type: existed_object
+      uid_list:
+      - dish1
+      is_not_rigid: true
+      without_colliders: true
+    dish2:
+      type: existed_object
+      uid_list:
+      - dish2
+      is_not_rigid: true
+      without_colliders: true
+    dish3:
+      type: existed_object
+      uid_list:
+      - dish3
+      is_not_rigid: true
+      without_colliders: true
+    glass:
+      type: existed_object
+      uid_list:
+      - glass
+      is_not_rigid: true
+      without_colliders: true
+    spoon:
+      type: existed_object
+      uid_list:
+      - spoon
+      is_not_rigid: true
+      without_colliders: true
+    basket_big:
+      type: existed_object
+      uid_list:
+      - basket_big
+      is_not_rigid: true
+      without_colliders: true
+    basket_small:
+      type: existed_object
+      uid_list:
+      - basket_small
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.75, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 5000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.85, 0.0, -0.65]
+    orientation: [0.0, 0.0, 0.0, 1.0]
+  table_uid: table
+  task_name: ebench/long/dish
+  usd_name: scene_usds/ebench/long_horizon/scene_dish/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/dish_test_mini/019/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dish_test_mini/019/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dish_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dish_test_mini/019/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..39e8d33e361a17490d8a8207b4b55fe5e83a1b4a
Binary files /dev/null and b/tasks/ebench/mobile_manip/dish_test_mini/019/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/000/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/000/config.yaml
@@ -0,0 +1,394 @@
+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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69
Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/001/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/001/config.yaml
@@ -0,0 +1,394 @@
+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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69
Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/002/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/002/config.yaml
@@ -0,0 +1,394 @@
+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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69
Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/003/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/003/config.yaml
@@ -0,0 +1,394 @@
+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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69
Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/004/config.yaml b/tasks/ebench/mobile_manip/dishwasher_val_train/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..488d52408334977eab4cc754d05a097ca6d63568
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/004/config.yaml
@@ -0,0 +1,394 @@
+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/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_e94205b7fdaa4000170a2a5_index116805/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_17fc64919a2c0aa03fa27c37b59b182e_0/Looks/_8f0823037b50e731fd5e7da_index126412/Num5dd77cea7d6a630001bffad3
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/DomeLight
+        type: dome_light
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/dome_light/train/.*\.exr$'
+      - prim_path: /World/_scene/obj_bowl1/Looks/colonoware_u1_v1/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bowl2/Looks/M_Blue_and_white_porcelain_bowl/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_dishwasher/textures/bowl2_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.1
+          y: -0.35
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl2
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl2
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.1603482550326944, -0.3674738401318558, 0.5652662551562398]
+            orientation: [0.5552226439255731, -0.4378673605310887, 0.4378673494019579, 0.5552226351487641]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.37598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.37598168799712983, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.4881759917982951]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.16034825657792606, -0.2797438093797442, 0.3112495576386195]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1603482601243187, -0.42598168817918265, 0.3112495577582255]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.2
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.2
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: true
+            cnt: 50
+            type: reset
+          right:
+          - name: right
+            grasp: true
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: -0.5
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.45
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          left:
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            translation: [-0.08203650051706557, 0.1263079016964893, -0.010645842737982185] 
+            orientation: [0.6234890213024483, -0.6234854334601111, 0.3335587499248239, -0.33356545823415396]
+            grasp: false
+            rel_object_uid: bowl1
+            type: object_frame
+          - name: left
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: left
+            translation: [-0.08835403533593156, 0.23985676054312389, -0.010645842737982185]
+            orientation: [0.6610038485672105, -0.583587058146975, 0.35343510464622546, -0.31238387369774273]
+            grasp: true
+            rel_object_uid: bowl1
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: -0.45
+          y: 0.0
+          yaw: 0.0
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.0
+          y: 0.5
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            translation: [-0.109721607721318, -0.3073751922976562, 0.33485328962850847]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: left
+            grasp: false
+            cnt: 15
+            type: pending
+          - name: left
+            grasp: false
+            cnt: 50
+            type: reset
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: true
+            cnt: 1
+            type: pending
+          right:
+          - name: right
+            translation: [0.17144962441437384, -0.6538841720782722, 0.3511289995279926]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.17144962685651277, -0.6538841722036388, 0.22929281407267033]
+            orientation: [0.5552226439255731, -0.43786736053108877, 0.43786734940195793, 0.5552226351487642]
+            grasp: true
+            rel_object_uid: washmachine
+            type: object_frame
+          - name: right
+            translation: [0.1714496253333324, -0.5687643286424755, 0.3052829544231639]
+            orientation: [0.6779319330100687, -0.20101815755898952, 0.20101814397021878, 0.6779319289807711]
+            grasp: true
+            cnt: 200
+            rel_object_uid: washmachine
+            type: object_frame
+      - type: move_to
+        move_type: delta
+        arm: left
+        grasp: true
+        delta_position:
+          x: 0.25
+          y: 0.0
+          yaw: 0.0
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: washmachine
+          status: [[[[0.12, 0.2], [0.5, 0.8], [-1e8, 1e8]]]]
+    - - - obj1_uid: washmachine
+          status: [[[[-0.05, 0.05], [-0.05, 0.05], [-1e8, 1e8]]]]
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl1
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bowl2
+          x_type: relative
+          y_type: relative
+          z_type: relative
+          x_range: [-0.20, 0.23]
+          y_range: [-0.30, 0.27]
+          z_range: [-0.20, 0.25]
+          x_rel_object_uid: washmachine
+          y_rel_object_uid: washmachine
+          z_rel_object_uid: washmachine
+          succ_cnts: 40
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Put all the bowls into the dishwasher.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - bowl1:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bowl2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    bowl1:
+      type: existed_object
+      uid_list:
+      - "bowl1"
+      is_not_rigid: true
+      without_colliders: true
+    bowl2:
+      type: existed_object
+      uid_list:
+      - "bowl2"
+      is_not_rigid: true
+      without_colliders: true
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.05]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    washmachine:
+      type: existed_object
+      uid_list:
+      - "washmachine"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /Instance/Group_160
+          group_1: /Instance/Group_140
+          group_2: /Instance/Group_220
+          group_3: /Instance/Group_00
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -0.45, 0.15]
+    orientation: [1.0, 0.0, 0.0, 0.0]
+  table_uid: table
+  task_name: ebench/long/dishwasher
+  usd_name: scene_usds/ebench/long_horizon/scene_dishwasher/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..91206d39e080b3e3711bad4f7490ea879fa37d69
Binary files /dev/null and b/tasks/ebench/mobile_manip/dishwasher_val_train/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d035f2a9100faf3f35ce823625139609fc68c3dd
--- /dev/null
+++ b/tasks/ebench/mobile_manip/fruit_val_unseen_20p/001/config.yaml
@@ -0,0 +1,466 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_b9766aeb5a3a91c8ed95ec8/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a5b89690001a5e474/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_table/model_eef587b5c4bcc52eb1400975c3c71e90_0/Looks/_f005b1a23bc8400014d4633/Num5e7cded4c3afb9000149674f
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/obj_cup/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/cup_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_container/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_fruit/textures/container_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: orange
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: orange
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.0, 0.25]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple_01
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.15]
+            orientation: [0.5, -0.5, 0.5, 0.5]
+            grasp: false
+            rel_object_uid: apple_01
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.1, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            translation: [0.3, -0.05, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 1
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            translation: [0.3, -0.13, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.0, 0.707]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.2, 0.18, 0.0]
+            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
+            grasp: false
+            rel_object_uid: cup
+            type: object_frame
+          - name: right
+            translation: [0.144852, 0.124954, 0.0]
+            orientation: [0.2673, 0.2673, -0.65464, -0.65464]
+            grasp: false
+            rel_object_uid: cup
+            type: object_frame
+          - name: right
+            translation: [0.2, 0.0, 0.3]
+            orientation: [0.927, 0.0, 0.375, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.3299286864575354, 0.625417510030224, -0.625417510030224, 0.32992868645753537]
+            grasp: true
+            rel_object_uid: container
+            type: object_frame
+          - name: left
+            cnt: 50
+            grasp: false
+            rel_arm: left
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        arm: right
+        grasp: true
+        rel_object_uid: container
+        delta_position:
+          x: null
+          y: -0.1
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.2, 0.17, 0.2]
+            orientation: [0.803, -0.464, 0.325, -0.187]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - &id005
+        obj1_uid:
+        - apple
+        obj2_uid:
+        - container
+        position:
+        - in
+      - &id006
+        obj1_uid:
+        - apple_01
+        obj2_uid:
+        - container
+        position:
+        - in
+      - obj1_uid:
+        - orange
+        obj2_uid:
+        - container
+        position:
+        - in
+      - type: manip/default/sr_based_genmanip_axis_align
+        obj1_uid: cup
+        obj2_uid: container
+        obj1_axis: y
+        obj2_axis: y
+        comparison: '>='
+        threshold_deg: 40.0
+      - type: manip/default/sr_based_genmanip_range
+        obj1_uid: cup
+        x_type: relative
+        y_type: relative
+        z_type: relative
+        x_range: [-0.04, 0.14]
+        y_range: [-0.08, 0.05]
+        z_range: [0.1, 0.3]
+        x_rel_object_uid: container
+        y_rel_object_uid: container
+        z_rel_object_uid: container
+    mode: manual
+    planner: curobo
+  instruction: Make a fruit milkshake in the cup.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - apple:
+        position: [0.3235375991776994, -0.3779458237115165, 0.7731800000000116]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      apple_01:
+        position: [0.2501280760185715, -0.3223858519852123, 0.7731800000000238]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      orange:
+        position: [0.3383013789714093, -0.2817084095222748, 0.7724200000000019]
+        orientation: [1.0, 0.0, 0.0, 0.0]
+        reset_orientation: true
+        additional_height: 0.01
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      container:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      cup:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+        buffer_size: 0.05
+      mango:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config: &id010
+    mango:
+      type: existed_object
+      uid_list:
+      - mango
+      is_not_rigid: true
+      without_colliders: true
+    apple:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    orange:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    apple_01:
+      type: load_object_from_path
+      path: 're:scene_usds/ebench/long_horizon/scene_fruit/apple/train/.*/.*\.usd'
+      max_cached_num: 1000
+      relative_scale: 0.9
+      mass: 0.1
+      option:
+      - plain_replace
+    container:
+      type: existed_object
+      uid_list:
+      - container
+      is_not_rigid: true
+      without_colliders: true
+    cup:
+      type: existed_object
+      uid_list:
+      - cup
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [0.15, -0.8, 0.2]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/fruit
+  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [0.15, -0.8, 0.2]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/fruit
+  usd_name: scene_usds/ebench/long_horizon/scene_fruit/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..82a51cebdc220827da61a64d64765f4b63289b58
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e9688276155f550cd07f0ffb3976b415e52b751a
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..07d2b53b1062e5766d9ab77e38b0f003f6fb1980
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/003/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..a4074f69ece9417e79edb3aa7a9701652bc3b03c
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bcda3f0ce9ae2aa49705e90dd88f2006cb036676
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/005/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e761800fe720c3ec6a7d30abdf6699c3f1542a1a
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/006/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..bbef38510b4ff7c1e97bdc6726c9d9e60fb44802
Binary files /dev/null and b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/007/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/008/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5d0c5511f7bad585b9eff0be144e9e7960b8deb
--- /dev/null
+++ b/tasks/ebench/mobile_manip/make_sandwich_val_train_20p/009/config.yaml
@@ -0,0 +1,303 @@
+demonstration_configs:
+- domain_randomization: &id003
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_fbcef6875c9820001b25451_index364253/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/BaseAnimation/cabinet/model_e40da5dc3ce0234ecde394b21499832d_0/Looks/_b90acbe9e796322b2fc30e9_index354635/Num5fb1f06b0e82a50001240a5d
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_base/room/Meshes/Animation/oven/model_1fad4c29fd7e39a900cba109722188cc_0/Instance/Materials/MI_657826524a62b000011d2f13/Shader
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path: &id004
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.3
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread2
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, 0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.3, -0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.2, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [-0.3, 0.0, -0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_object_uid: beef
+            type: object_frame
+          - name: left
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.1123123920768237, -0.0034897790585515726, 0.17284023845188462]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: false
+            rel_object_uid: lettuce
+            type: object_frame
+          - name: right
+            translation: [0.18550121495586275, -0.005234530748983123, 0.24096036798141052]
+            orientation: [0.36604643, 0.00811755, 0.93055569, 0.00319611]
+            grasp: true
+            rel_object_uid: lettuce
+            type: object_frame
+          left:
+          - name: left
+            translation: [-0.015, 0.32, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [-0.015, 0.33, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.015, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: right
+            translation: [-0.015, 0.38, -0.08]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+          left:
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.1]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_object_uid: bread4
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_object_uid: bread4
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.0, 0.38, -0.1]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: true
+            rel_object_uid: plate
+            type: object_frame
+          - name: left
+            translation: [0.0, 0.38, 0.05]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_object_uid: plate
+            type: object_frame
+      robot: 0
+    articulation: []
+    reset_tcp: 0.2
+    goal:
+    - - &id005
+        obj1_uid:
+        - bread2
+        obj2_uid:
+        - plate
+        position:
+        - top
+      - &id006
+        obj1_uid:
+        - beef
+        obj2_uid:
+        - bread2
+        position:
+        - top
+      - obj1_uid:
+        - lettuce
+        obj2_uid:
+        - beef
+        position:
+        - top
+      - obj1_uid:
+        - bread4
+        obj2_uid:
+        - lettuce
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Make a sandwich in the plate.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - plate:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread2:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      lettuce:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      bread4:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      beef:
+        w: 0.1
+        h: 0.1
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 250
+  object_config: &id010
+    beef:
+      type: existed_object
+      uid_list:
+      - beef
+      is_not_rigid: true
+      without_colliders: true
+    plate:
+      type: existed_object
+      uid_list:
+      - plate
+      is_not_rigid: true
+      without_colliders: true
+    bread2:
+      type: existed_object
+      uid_list:
+      - bread2
+      is_not_rigid: true
+      without_colliders: true
+    lettuce:
+      type: existed_object
+      uid_list:
+      - lettuce
+      is_not_rigid: true
+      without_colliders: true
+    bread4:
+      type: existed_object
+      uid_list:
+      - bread4
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-0.75, 0.0, 0.5]
+  table_uid: instance
+  task_name: ebench/long/make_sandwich
+  usd_name: scene_usds/ebench/long_horizon/scene_sandwich/base
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/000/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/000/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee
Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/002/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/002/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/003/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/003/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee
Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/005/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/005/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee
Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/006/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee
Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/007/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/008/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/008/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/009/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/009/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee
Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/010/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/config.yaml b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3315fa573e3260c4e84ef8f3f6545d2d1d13134
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/config.yaml
@@ -0,0 +1,283 @@
+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/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31494/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+      - prim_path: /World/_scene/room/Meshes/BaseAnimation/cabinet/model_320d837652cbcd6a13d8e95775c92cb0_0/Looks/_dce846e51adf500011d9972_index31447/Num6038c1ca5b896900015bfe2e
+        type: mdl
+        assets_pattern: 'miscs/mdl/ebench/mdl/table/train/.*\.mdl$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      # - type: move_to
+      #   move_type: delta
+      #   delta_position:
+      #     x: 0.0
+      #     y: 0.0
+      #     yaw: 360
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0891, -0.3179, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.2779, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          - name: right
+            translation: [0.0891, -0.3119, 0.0302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0891, -0.3519, 0.1302]
+            orientation: [0.7071, 0.0, 0.0, 0.7071]
+            grasp: false
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.2586]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.0640, -0.1110, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.04, -0.2818, 0.1939]
+            orientation: [0.0, -0.7071, 0.0, 0.7071]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart2
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            translation: [0.0, 0.137, 0.085]
+            orientation: [0.2056795402616371, -0.6705473308373396, 0.6891100511704108, 0.18217996926279972]
+            grasp: false
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            grasp: true
+            cnt: 15
+            type: pending
+          - name: right
+            translation: [0.0, 0.198, 0.085]
+            orientation: [0.2056794874430935, -0.6705472997613288, 0.6891102050391927, 0.18217956125421675]
+            grasp: true
+            rel_object_uid: eggtart1
+            type: object_frame
+          - name: right
+            translation: [0.03308582315197128, -0.16093671327442216, 0.056420951868233093]
+            orientation: [0.5333113438788039, -0.18110167774472377, 0.12919568521960492, 0.8161431661962668]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [0.3, 0.0, 0.3]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+      - type: move_to
+        move_type: delta
+        delta_position:
+          x: 0.15
+          y: 0.0
+          yaw: 0.0
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [-0.15564227067524894, -0.28473460696283137, 0.22268581387878636]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+          - name: right
+            translation: [-0.003480672469682755, -0.12613117716851985, 0.22268581378494454]
+            orientation: [3.492459128669278e-10, -0.7071067806044711, -3.492459128669278e-10, 0.7071067817686241]
+            grasp: true
+            rel_object_uid: microwave
+            type: object_frame
+      robot: 0
+    articulation: []
+    goal:
+    - - - obj1_uid: microwave
+          status: [[[[-2.0, -1.1], [-1e8, 1e8]]]]
+    - - - obj1_uid: microwave
+          status: [[[[-0.2, 0.05], [-1e8, 1e8]]]]
+        - obj1_uid:
+          - eggtart1
+          obj2_uid:
+          - plate
+          position:
+          - top
+        - obj1_uid:
+          - eggtart2
+          obj2_uid:
+          - plate
+          position:
+          - top
+    mode: manual
+    planner: curobo
+  instruction: Heat the eggtart with the microwave.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - eggtart1:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+      eggtart2:
+        w: 0.15
+        h: 0.15
+        angle: 0
+        angle_bilateral: false
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    eggtart1:
+      type: existed_object
+      uid_list:
+      - "02"
+      is_not_rigid: true
+      without_colliders: true
+    eggtart2:
+      type: existed_object
+      uid_list:
+      - "03"
+      is_not_rigid: true
+      without_colliders: true
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+    plate:
+      type: existed_object
+      uid_list:
+      - "00"
+      is_not_rigid: true
+      without_colliders: true
+    box:
+      type: existed_object
+      uid_list:
+      - "01"
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  object_config:
+    microwave:
+      type: existed_object
+      uid_list:
+      - "microwave"
+      is_articulated: true
+      articulation_info:
+        is_articulated: true
+        part:
+          group_0: /group_0
+          group_1: /group_1
+          group_2: /group_2
+  robots:
+  - type: manip/lift2/R5a
+    position: [1.0, -2.65, -0.6]
+    orientation: [0.70711, 0.0, 0.0, 0.70711]
+  table_uid: table
+  task_name: ebench/long/microwave
+  usd_name: scene_usds/ebench/long_horizon/scene_microwave/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/lmdb/info.json b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..75e0302dca9be77ff440868c7dfdec05ec6be7ee
Binary files /dev/null and b/tasks/ebench/mobile_manip/microwave_val_unseen_20p/011/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..0b4c7c623cdd23363ea56aed38038b2d646e22ad
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/001/lmdb/lock.mdb
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index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/003/lmdb/lock.mdb
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index 0000000000000000000000000000000000000000..8f8700f8bb262e71a0524926c5a4bbf39ddf481f
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/004/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/005/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/006/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/007/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/008/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/009/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/lmdb/info.json
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/010/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/011/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/lmdb/info.json
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+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/012/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/lmdb/info.json
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/013/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/014/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/015/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/016/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/017/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/017/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/018/lmdb/lock.mdb
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/lmdb/info.json
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index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
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@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_test_mini/019/lmdb/lock.mdb
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index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc
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diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/config.yaml
@@ -0,0 +1,186 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      # mode: auto
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: align
+        rel_object_uid: '0'
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: true
+            cnt: 500
+      - type: move_to
+        move_type: align
+        rel_object_uid: '1'
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: -0.2
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          # - name: left
+          #   type: debug
+          #   rel_arm: left
+          #   debug_rel_object_uid: '1'
+          #   translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192]
+          #   orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394]
+          #   grasp: true
+          #   cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: false
+            cnt: 500
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the salt from the countertop and place it into the spice rack.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 0.29
+        random_range_y: -1.3
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        reset_orientation: true
+        orientation: [0.7, 0.0, 0.0, 0.7]
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$"
+      relative_scale: 0.008
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_06'    # update uid
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_05'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.9, -0.99, -0.5]  # update to fit the scene
+    orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task7_ready
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the salt from the countertop and place it in the spice rack."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task7_obj
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..8f8700f8bb262e71a0524926c5a4bbf39ddf481f
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/config.yaml
@@ -0,0 +1,186 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      # mode: auto
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: align
+        rel_object_uid: '0'
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: true
+            cnt: 500
+      - type: move_to
+        move_type: align
+        rel_object_uid: '1'
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: -0.2
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          # - name: left
+          #   type: debug
+          #   rel_arm: left
+          #   debug_rel_object_uid: '1'
+          #   translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192]
+          #   orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394]
+          #   grasp: true
+          #   cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: false
+            cnt: 500
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the salt from the countertop and place it into the spice rack.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 0.29
+        random_range_y: -1.3
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        reset_orientation: true
+        orientation: [0.7, 0.0, 0.0, 0.7]
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$"
+      relative_scale: 0.008
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_06'    # update uid
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_05'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.9, -0.99, -0.5]  # update to fit the scene
+    orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task7_ready
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the salt from the countertop and place it in the spice rack."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task7_obj
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..9c4cd7c0d39e505e3bb88aaa5def24c260172efc
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/config.yaml
@@ -0,0 +1,186 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      # mode: auto
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: align
+        rel_object_uid: '0'
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: true
+            cnt: 500
+      - type: move_to
+        move_type: align
+        rel_object_uid: '1'
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: -0.2
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          # - name: left
+          #   type: debug
+          #   rel_arm: left
+          #   debug_rel_object_uid: '1'
+          #   translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192]
+          #   orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394]
+          #   grasp: true
+          #   cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: false
+            cnt: 500
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the salt from the countertop and place it into the spice rack.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 0.29
+        random_range_y: -1.3
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        reset_orientation: true
+        orientation: [0.7, 0.0, 0.0, 0.7]
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$"
+      relative_scale: 0.008
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_06'    # update uid
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_05'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.9, -0.99, -0.5]  # update to fit the scene
+    orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task7_ready
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the salt from the countertop and place it in the spice rack."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task7_obj
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/config.yaml
@@ -0,0 +1,186 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      # mode: auto
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: align
+        rel_object_uid: '0'
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: true
+            cnt: 500
+      - type: move_to
+        move_type: align
+        rel_object_uid: '1'
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: -0.2
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          # - name: left
+          #   type: debug
+          #   rel_arm: left
+          #   debug_rel_object_uid: '1'
+          #   translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192]
+          #   orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394]
+          #   grasp: true
+          #   cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: false
+            cnt: 500
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the salt from the countertop and place it into the spice rack.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 0.29
+        random_range_y: -1.3
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        reset_orientation: true
+        orientation: [0.7, 0.0, 0.0, 0.7]
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$"
+      relative_scale: 0.008
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_06'    # update uid
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_05'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.9, -0.99, -0.5]  # update to fit the scene
+    orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task7_ready
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the salt from the countertop and place it in the spice rack."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task7_obj
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/config.yaml
@@ -0,0 +1,186 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      # mode: auto
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: align
+        rel_object_uid: '0'
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: true
+            cnt: 500
+      - type: move_to
+        move_type: align
+        rel_object_uid: '1'
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: -0.2
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          # - name: left
+          #   type: debug
+          #   rel_arm: left
+          #   debug_rel_object_uid: '1'
+          #   translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192]
+          #   orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394]
+          #   grasp: true
+          #   cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: false
+            cnt: 500
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the salt from the countertop and place it into the spice rack.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 0.29
+        random_range_y: -1.3
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        reset_orientation: true
+        orientation: [0.7, 0.0, 0.0, 0.7]
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$"
+      relative_scale: 0.008
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_06'    # update uid
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_05'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.9, -0.99, -0.5]  # update to fit the scene
+    orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task7_ready
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the salt from the countertop and place it in the spice rack."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task7_obj
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..a2130bf4b82c331d4eca0eb3be10a94511339652
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/config.yaml b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..db5bbfe0d38438b261c218958493d6ee603ca941
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/config.yaml
@@ -0,0 +1,186 @@
+demonstration_configs:
+- domain_randomization: &id001
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config: &id002
+    action_path:
+      # mode: auto
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: align
+        rel_object_uid: '0'
+        arm: left
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115005165284, -0.447426161640379, 0.5551673270717081, 0.5347550700111631]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04023398626959951, -0.006421130946207609, 0.17745335804826548]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: false
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '0'
+            translation: [0.04025069159961103, -0.006003941678023761, 0.23709615386223307]
+            orientation: [0.45347115959064266, -0.4474261524840231, 0.5551673165894618, 0.5347550804655506]
+            grasp: true
+            cnt: 500
+      - type: move_to
+        move_type: align
+        rel_object_uid: '1'
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: -0.2
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          # - name: left
+          #   type: debug
+          #   rel_arm: left
+          #   debug_rel_object_uid: '1'
+          #   translation: [0.3952634170328001, 0.11772970147272999, 0.17548448026328192]
+          #   orientation: [0.7654433867505236, -0.19289249240742917, 0.6111491896494338, -0.058185703085712394]
+          #   grasp: true
+          #   cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.2660124321271593, 0.2916367728444086, -0.03201628703855547]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 300
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: true
+            cnt: 500
+          - name: left
+            type: object_frame
+            rel_object_uid: '1'
+            translation: [0.10756372851614115, 0.2906924433124878, -0.05229314348081909]
+            orientation: [-0.5182896033640277, -0.18069008329705077, 0.2207086811602171, 0.806234865844551]
+            grasp: false
+            cnt: 500
+      robot: 0
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the salt from the countertop and place it into the spice rack.    # update instruction
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      '0':
+        random_range_x: 0.29
+        random_range_y: -1.3
+        random_range_w: 0.1
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        reset_orientation: true
+        orientation: [0.7, 0.0, 0.0, 0.7]
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 15
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.01
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/salt_new/GRScenes_assets/bottle/.*\\.usd$"
+      relative_scale: 0.008
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_06'    # update uid
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_05'    # update uid
+  preprocess_config:
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  # - type: rigid_body
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [0.9, -0.99, -0.5]  # update to fit the scene
+    orientation: [0, 0, 0, 1]
+  # update following
+  table_uid: table
+  task_name: ebench/simple_pnpa/task7_ready
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the salt from the countertop and place it in the spice rack."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task7_obj
+  usd_name: scene_usds/ebench/simple_pnp/task7/scene
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/info.json b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..e1592100204e1e5300e1717d112ab53f9ff39956
Binary files /dev/null and b/tasks/ebench/mobile_manip/salt_to_spice_rack_val_unseen/005/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/shop_val_train/000/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/000/config.yaml
@@ -0,0 +1,1018 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.25]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.17, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.35]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.0, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: bottle
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: bottle
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: milk
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: milk
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.25, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.35, -0.05, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.35, -0.1, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.4, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1  
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Scan all the items at the checkout counter.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - box0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: false
+        type: centric_range
+      box1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      milk:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      bottle:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    can0:
+      type: existed_object
+      uid_list:
+      - can0
+      is_not_rigid: true
+      without_colliders: true
+    can1:
+      type: existed_object
+      uid_list:
+      - can1
+      is_not_rigid: true
+      without_colliders: true
+    box0:
+      type: existed_object
+      uid_list:
+      - box0
+      is_not_rigid: true
+      without_colliders: true
+    box1:
+      type: existed_object
+      uid_list:
+      - box1
+      is_not_rigid: true
+      without_colliders: true
+    bottle:
+      type: existed_object
+      uid_list:
+      - bottle
+      is_not_rigid: true
+      without_colliders: true
+    milk:
+      type: existed_object
+      uid_list:
+      - milk
+      is_not_rigid: true
+      without_colliders: true
+    place0:
+      type: existed_object
+      uid_list:
+      - place0
+      is_not_rigid: true
+      without_colliders: true
+    place1:
+      type: existed_object
+      uid_list:
+      - place1
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-1.8, -0.1, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-1.8, -0.03, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7
Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/shop_val_train/001/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/001/config.yaml
@@ -0,0 +1,1018 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.25]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.17, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.35]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.0, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: bottle
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: bottle
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: milk
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: milk
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.25, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.35, -0.05, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.35, -0.1, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.4, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1  
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Scan all the items at the checkout counter.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - box0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: false
+        type: centric_range
+      box1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      milk:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      bottle:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    can0:
+      type: existed_object
+      uid_list:
+      - can0
+      is_not_rigid: true
+      without_colliders: true
+    can1:
+      type: existed_object
+      uid_list:
+      - can1
+      is_not_rigid: true
+      without_colliders: true
+    box0:
+      type: existed_object
+      uid_list:
+      - box0
+      is_not_rigid: true
+      without_colliders: true
+    box1:
+      type: existed_object
+      uid_list:
+      - box1
+      is_not_rigid: true
+      without_colliders: true
+    bottle:
+      type: existed_object
+      uid_list:
+      - bottle
+      is_not_rigid: true
+      without_colliders: true
+    milk:
+      type: existed_object
+      uid_list:
+      - milk
+      is_not_rigid: true
+      without_colliders: true
+    place0:
+      type: existed_object
+      uid_list:
+      - place0
+      is_not_rigid: true
+      without_colliders: true
+    place1:
+      type: existed_object
+      uid_list:
+      - place1
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-1.8, -0.1, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-1.8, -0.03, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7
Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/shop_val_train/002/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/002/config.yaml
@@ -0,0 +1,1018 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.25]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.17, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.35]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.0, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: bottle
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: bottle
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: milk
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: milk
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.25, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.35, -0.05, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.35, -0.1, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.4, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1  
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Scan all the items at the checkout counter.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - box0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: false
+        type: centric_range
+      box1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      milk:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      bottle:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    can0:
+      type: existed_object
+      uid_list:
+      - can0
+      is_not_rigid: true
+      without_colliders: true
+    can1:
+      type: existed_object
+      uid_list:
+      - can1
+      is_not_rigid: true
+      without_colliders: true
+    box0:
+      type: existed_object
+      uid_list:
+      - box0
+      is_not_rigid: true
+      without_colliders: true
+    box1:
+      type: existed_object
+      uid_list:
+      - box1
+      is_not_rigid: true
+      without_colliders: true
+    bottle:
+      type: existed_object
+      uid_list:
+      - bottle
+      is_not_rigid: true
+      without_colliders: true
+    milk:
+      type: existed_object
+      uid_list:
+      - milk
+      is_not_rigid: true
+      without_colliders: true
+    place0:
+      type: existed_object
+      uid_list:
+      - place0
+      is_not_rigid: true
+      without_colliders: true
+    place1:
+      type: existed_object
+      uid_list:
+      - place1
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-1.8, -0.1, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-1.8, -0.03, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7
Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/shop_val_train/003/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/003/config.yaml
@@ -0,0 +1,1018 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.25]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.17, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.35]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.0, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: bottle
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: bottle
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: milk
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: milk
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.25, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.35, -0.05, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.35, -0.1, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.4, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1  
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Scan all the items at the checkout counter.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - box0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: false
+        type: centric_range
+      box1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      milk:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      bottle:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    can0:
+      type: existed_object
+      uid_list:
+      - can0
+      is_not_rigid: true
+      without_colliders: true
+    can1:
+      type: existed_object
+      uid_list:
+      - can1
+      is_not_rigid: true
+      without_colliders: true
+    box0:
+      type: existed_object
+      uid_list:
+      - box0
+      is_not_rigid: true
+      without_colliders: true
+    box1:
+      type: existed_object
+      uid_list:
+      - box1
+      is_not_rigid: true
+      without_colliders: true
+    bottle:
+      type: existed_object
+      uid_list:
+      - bottle
+      is_not_rigid: true
+      without_colliders: true
+    milk:
+      type: existed_object
+      uid_list:
+      - milk
+      is_not_rigid: true
+      without_colliders: true
+    place0:
+      type: existed_object
+      uid_list:
+      - place0
+      is_not_rigid: true
+      without_colliders: true
+    place1:
+      type: existed_object
+      uid_list:
+      - place1
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-1.8, -0.1, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-1.8, -0.03, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7
Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/shop_val_train/004/config.yaml b/tasks/ebench/mobile_manip/shop_val_train/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1d7a788f406ee83fe66bbbee98868a2e414045af
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/004/config.yaml
@@ -0,0 +1,1018 @@
+demonstration_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+      random_visuals:
+      - prim_path: /World/_scene/obj_table/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/table/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_bottle/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/bottle_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_milk/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/milk_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can0/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can0_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_can1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/can1_texture/train/.*\.png$'
+      - prim_path: /World/_scene/obj_box1/Looks/material0/baseColorTex
+        type: texture
+        assets_pattern: 'scene_usds/ebench/long_horizon/scene_shop/textures/box1_texture/train/.*\.png$'
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: manual
+      actions:
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.25]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.17, 0.07]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.35]
+            orientation: [0.5, 0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.0, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: bottle
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: bottle
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: bottle
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: milk
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: milk
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: milk
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: box1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: box1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: box1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.25, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.35, -0.05, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.35, -0.1, 0.03]
+            orientation: [0.5, -0.5, 0.5, -0.5]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can1
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can1
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.4, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can1
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: can0
+        arm: right
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.0, 0.3, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.2, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: false
+            rel_object_uid: can0
+            type: object_frame
+          - name: right
+            translation: [0.0, 0.35, 0.0]
+            orientation: [-0.5, 0.5, -0.5, 0.5]
+            grasp: true
+            rel_object_uid: can0
+            type: object_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.2]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: true
+            rel_arm: right
+            type: robot_frame
+          left:
+          - name: left
+            translation: [0.3, -0.15, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.3, -0.2, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: false
+            rel_arm: left
+            type: robot_frame
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            cnt: 15
+            grasp: true
+            type: pending
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: custom_motion
+        motion_list:
+          right:
+          - name: right
+            translation: [0.3, 0.15, 0.3]
+            orientation: [0.707, 0.0, 0.707, 0.0]
+            grasp: false
+            rel_arm: right
+            type: robot_frame
+          - name: right
+            grasp: false
+            arm: right
+            cnt: 50
+            type: reset
+          left:
+          - name: left
+            translation: [0.3, -0.1, 0.03]
+            orientation: [0.707, 0.0, 0.0, -0.707]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+          - name: left
+            translation: [0.4, 0.1, 0.05]
+            orientation: [1.0, 0.0, 0.0, 0.0]
+            grasp: true
+            rel_arm: left
+            type: robot_frame
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place0
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            cnt: 15
+            grasp: true
+            type: pending
+      - type: move_to
+        move_type: alignv2
+        rel_object_uid: place1
+        arm: left
+        grasp: true
+        delta_position:
+          x: null
+          y: 0.0
+          yaw: null
+      - type: custom_motion
+        motion_list:
+          left:
+          - name: left
+            grasp: false
+            arm: left
+            cnt: 50
+            type: reset
+      robot: 0
+    articulation: []
+    goal:
+    - - - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1  
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-2.12, -1.59]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          never_reset: true
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: milk
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: bottle
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: box1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can0
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+        - type: manip/default/sr_based_genmanip_range
+          obj1_uid: can1
+          x_type: absolute
+          y_type: absolute
+          z_type: none
+          x_range: [-1.59, -0.75]
+          y_range: [-1.05, -0.48]
+          z_range: [0.0, 0.0]
+          succ_cnts: 30
+          skip_steps: 5
+    mode: manual
+    planner: curobo
+  instruction: Scan all the items at the checkout counter.
+  layout_config: &id009
+    ignored_objects: []
+    type: random_custom_tableset
+    custom_tableset:
+    - box0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: false
+        type: centric_range
+      box1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can0:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      can1:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      milk:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+      bottle:
+        w: 0.15
+        h: 0.15
+        angle: 30
+        angle_bilateral: true
+        type: centric_range
+  mode: manual
+  num_episode: 5
+  object_config:
+    can0:
+      type: existed_object
+      uid_list:
+      - can0
+      is_not_rigid: true
+      without_colliders: true
+    can1:
+      type: existed_object
+      uid_list:
+      - can1
+      is_not_rigid: true
+      without_colliders: true
+    box0:
+      type: existed_object
+      uid_list:
+      - box0
+      is_not_rigid: true
+      without_colliders: true
+    box1:
+      type: existed_object
+      uid_list:
+      - box1
+      is_not_rigid: true
+      without_colliders: true
+    bottle:
+      type: existed_object
+      uid_list:
+      - bottle
+      is_not_rigid: true
+      without_colliders: true
+    milk:
+      type: existed_object
+      uid_list:
+      - milk
+      is_not_rigid: true
+      without_colliders: true
+    place0:
+      type: existed_object
+      uid_list:
+      - place0
+      is_not_rigid: true
+      without_colliders: true
+    place1:
+      type: existed_object
+      uid_list:
+      - place1
+      is_not_rigid: true
+      without_colliders: true
+  preprocess_config: []
+  robots:
+  - &id011
+    type: manip/lift2/R5a
+    position: [-1.8, -0.1, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera_lift2_simbox.yml
+      type: fixed
+  num_test: 10
+  num_steps: 3000
+  robots:
+  - type: manip/lift2/R5a
+    position: [-1.8, -0.03, -0.38]
+    orientation: [0.70711, 0.0, 0.0, -0.70711]
+  table_uid: table
+  task_name: ebench/long/shop
+  usd_name: scene_usds/ebench/long_horizon/scene_shop/scene
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/info.json b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..646c258a5e4b5f5574d96f86159e9edba00bd8f7
Binary files /dev/null and b/tasks/ebench/mobile_manip/shop_val_train/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/000/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/001/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/002/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/003/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..63a1e8238f39f1a66249e43df65960dbd691a757
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/004/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..dde2144332d5986619a55db3614481b8078864dd
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/005/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..0a52ad5955a8ecf21cf15de7cfe2c272f093442f
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/006/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..0a52ad5955a8ecf21cf15de7cfe2c272f093442f
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/007/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..5b4b4e792deb476f8cfd0dac9155a9b1d661495e
Binary files /dev/null and b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/008/lmdb/lock.mdb differ
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/config.yaml b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..49d68eae1fddfdf46b4d0fce65ffd4cab6bb71a1
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/config.yaml
@@ -0,0 +1,235 @@
+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: pick_and_place
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+        allow_fixed_grasp: true   
+        force_fixed_grasp: true
+        # pick position
+        fixed_grasp_config:
+          translation: [0.04, 0.0, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 90
+        # placed position
+        fixed_position: true
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+            - x: 0.2
+              y: 0.0
+              yaw: 0.0
+              type: delta
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          post_grasp_distance: 0.2
+          post_place_distance: 0.15
+      - type: pick_and_place
+        obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+        # pick position
+        fixed_grasp_config:
+          translation: [0.01, -0.06, 0.0]
+        gripper_rot_config:
+          axis: x
+          angle: 80
+        allow_fixed_grasp: true    
+        force_fixed_grasp: true
+        # place position
+        fixed_position: true
+        fixed_position_config:     # apply delta to the final object position to be placed
+          - translation: [-0.01, 0.02, 0]
+            orientation: [1, 0, 0, 0]
+        arm: auto
+        base_motion_list:
+          0:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+          3:
+            - x: null
+              y: [-0.05, 0.05]
+              yaw: null
+              type: align
+        motion_config:
+          pre_grasp_distance: 0.02
+          grasp_distance: -0.02
+          post_grasp_distance: 0.1
+      robot: 0
+    # reset_tcp: true
+    articulation: []
+    goal:
+    - - obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+      - obj1_uid:
+        - '2'
+        obj2_uid:
+        - '3'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: Pick up the teacup on the desk and place it into the empty saucer. Then pick up the teapot and place it into the tray.
+  layout_config: &id003
+    type: random_custom_tableset
+    in_order: true
+    custom_tableset:
+      # '0':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '0':
+        random_range_x: -0.3
+        random_range_y: -0.0
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [0.53383, 0.0, 0.0 , 0.84559]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      # '1':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.01
+      #   h: 0.01
+      #   buffer_size: 0.0
+      # '2':
+      #   type: centric_range
+      #   angle_bilateral: true
+      #   angle: 0
+      #   w: 0.1
+      #   h: 0.1
+      #   buffer_size: 0.0
+      '2':
+        random_range_x: -0.3
+        random_range_y: -0.15
+        random_range_w: 0.2
+        random_range_h: 0.2
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+      '3':
+        random_range_x: -0.4
+        random_range_y: 0.1
+        random_range_w: 0.3
+        random_range_h: 0.4
+        random_range_angle: 15
+        additional_height: 0.01
+        # orientation: [1, 0, 0.0 , 0.0 ]
+        # reset_orientation: true
+        buffer_size: 0.01
+        type: global_range
+  mode: manual
+  num_episode: 400
+  object_config: &id004
+    # '0':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_02'
+    '0':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/cup/train/.*\\.usd$"
+      relative_scale: 0.5
+      option:
+      - plain_replace
+      without_colliders: false
+    '1':
+      type: existed_object
+      uid_list:
+      - '_03'
+    # '2':
+    #   type: existed_object
+    #   uid_list:
+    #   - '_01'
+    '2':
+      type: load_object_from_path
+      filter_rule: []
+      max_cached_num: 10
+      path: "regex:^object_usds/custom_usd/ebench_usds/teapot/train/.*\\.usd$"
+      relative_scale: 0.6
+      option:
+      - plain_replace
+      without_colliders: false
+    '3':
+      type: existed_object
+      uid_list:
+      - '0'
+  preprocess_config: 
+  - &id005
+    config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - &id006
+    type: manip/lift2/R5a
+    position: [-0.97, 0.1, -0.5]  # update to fit the scene
+    # orientation: [0.70711, 0, 0, 0.70711]
+  table_uid: table
+  task_name: ebench/simple_pnpa/task9_train
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
+
+evaluation_configs:
+- domain_randomization: *id001
+  generation_config: *id002
+  instruction: "Pick up the teacup on the desk and place it into the empty saucer, then place the teapot into the tray."
+  layout_config: *id003
+  mode: manual
+  num_test: 100
+  num_steps: 1000
+  object_config: *id004
+  preprocess_config:
+  - *id005
+  robots:
+  - *id006
+  table_uid: table
+  task_name: ebench/simple_pnp/task9_obj
+  usd_name: scene_usds/ebench/simple_pnp/task9/scene
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/info.json b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..f73c82b03b9e724b4e54a7c86c04530402b80349
--- /dev/null
+++ b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/articulation_mapping": {}}
\ No newline at end of file
diff --git a/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/lock.mdb b/tasks/ebench/mobile_manip/teacup_to_saucer_teapot_to_tray_val_train_20p/009/lmdb/lock.mdb
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diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/000/lmdb/data.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/000/lmdb/data.mdb
new file mode 100644
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--- /dev/null
+++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/000/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a898df305b23091a5c5d0887b3f7ce97b51e51c9f8dc0371c5852ce6d9863a0
+size 13369344
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/000/meta_info.pkl b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/000/meta_info.pkl
new file mode 100644
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--- /dev/null
+++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/000/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb4cd9e4963f77b48b6ca10cfe1dc7f80ad038ca0b314067155fb993764f2da2
+size 5951
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/001/lmdb/data.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/001/lmdb/data.mdb
new file mode 100644
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--- /dev/null
+++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/001/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6ef091574e8543453a7f35d04fc8610055ce69df1872d12ff5f18637080d5ec
+size 13463552
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/001/meta_info.pkl b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/001/meta_info.pkl
new file mode 100644
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--- /dev/null
+++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/001/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d579f24722c0288a414a6246d44a45c2975b713834c475794d06b6838bc250e8
+size 5957
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/002/lmdb/data.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/002/lmdb/data.mdb
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+++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/002/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b50e5aab8e4c0be9f1d2bf70aaa96f88c49cde75ffd64148b32b279c857df035
+size 13434880
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/002/meta_info.pkl b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/002/meta_info.pkl
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--- /dev/null
+++ b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/002/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:868b5d3d2c48512235f2d97bd138cad9e7e3173ae29f33e60ea40a18dd9a3e83
+size 5957
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/003/lmdb/data.mdb b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/003/lmdb/data.mdb
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 12267520
diff --git a/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/003/meta_info.pkl b/tasks/ebench/table_top_manip/collect_coffee_beans_val_train/003/meta_info.pkl
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@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 5957
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