Add files using upload-large-folder tool

.gitattributes

@@ -2053,3 +2053,201 @@ tasks/ebench/mobile_manip/remote_to_holder_test_mini/017/lmdb/data.mdb filter=lf
 tasks/ebench/mobile_manip/remote_to_holder_test_mini/014/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
 tasks/ebench/mobile_manip/remote_to_holder_test_mini/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
 tasks/ebench/mobile_manip/remote_to_holder_test_mini/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/microwave_val_train_20p/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/salt_to_spice_rack_val_train/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/010/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/011/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/remote_to_holder_val_unseen_20p/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/010/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/007/000/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/006/000/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/004/000/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/011/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/005/000/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/003/000/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/soap_to_dish_val_unseen_20p/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train_20p/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/022/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/039/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/016/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/023/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/058/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/059/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/040/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/025/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/027/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/045/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/020/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/010/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/012/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/051/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/036/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/015/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/031/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/029/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/053/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/013/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/055/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/035/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/018/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/044/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/043/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/041/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/026/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/034/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/052/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/049/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/038/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/028/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/048/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/019/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/047/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/011/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/046/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/033/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/054/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/042/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/037/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/017/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/030/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/024/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/056/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/014/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/057/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/050/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/032/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/utensils_to_holder_val_train/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/utensils_to_holder_val_train/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/utensils_to_holder_val_train/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/utensils_to_holder_val_train/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/utensils_to_holder_val_train/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/016/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/010/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/012/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/015/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/013/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/018/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/019/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/011/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/017/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/014/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_from_shelf_test_mini/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/dishwasher_val_train_20p/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/apple_to_fruit_bowl_val_train/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bottle_val_train_20p/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bookmark_on_book_val_unseen/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bookmark_on_book_val_unseen/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bookmark_on_book_val_unseen/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bookmark_on_book_val_unseen/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bookmark_on_book_val_unseen/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/bookmark_on_book_val_unseen/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train/000/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/perfume_to_cosmetics_rack_val_train/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/021/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/022/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/039/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/016/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/023/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/058/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/059/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/040/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/025/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/027/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/045/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/020/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/010/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/012/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/051/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/036/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/015/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/031/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/029/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/053/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/013/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/055/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/035/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/018/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/044/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/043/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/041/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/026/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/ebench/mobile_manip/fruit/034/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text

assets/scene_usds/ebench/long_horizon/scene_bottle/bottle/train/79323a7f09b74d898ae7fb7ebff5414f/.collect.mapping.json

@@ -0,0 +1,23 @@
+{
+    "version": "1.0",
+    "file_records": [
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/bottle/79323a7f09b74d898ae7fb7ebff5414f/usd/79323a7f09b74d898ae7fb7ebff5414f.usd",
+            "source_hash": "121290157813fee561594ef593c17237834d18b3",
+            "target_url": "./79323a7f09b74d898ae7fb7ebff5414f.usd",
+            "target_hash": "26594a14a3ff144f3c24cda0b515a2da80a510f6"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/bottle/79323a7f09b74d898ae7fb7ebff5414f/usd/textures/79323a7f09b74d898ae7fb7ebff5414f_texture0.png",
+            "source_hash": "f0fafefcd761322bf5f31edde32bf8ef475eb937",
+            "target_url": "./SubUSDs/textures/79323a7f09b74d898ae7fb7ebff5414f_texture0.png",
+            "target_hash": "bc4e1f2ffcd3e8a1352fa5fa3cb1572f3416013b"
+        },
+        {
+            "source_url": "/cpfs/shared/simulation/maojian/benchmark_use_processed/bottle/79323a7f09b74d898ae7fb7ebff5414f/usd/textures/79323a7f09b74d898ae7fb7ebff5414f_texture1.png",
+            "source_hash": "3417dff968505fc15538c4d969abdd52e6d6cb29",
+            "target_url": "./SubUSDs/textures/79323a7f09b74d898ae7fb7ebff5414f_texture1.png",
+            "target_hash": "f88e6761276ba608320deec2802b1766bfcd1d0b"
+        }
+    ]
+}

assets/scene_usds/ebench/long_horizon/scene_bottle/bottle/train/79323a7f09b74d898ae7fb7ebff5414f/79323a7f09b74d898ae7fb7ebff5414f_annotation.json

@@ -0,0 +1,18 @@
+{
+    "uid": "79323a7f09b74d898ae7fb7ebff5414f",
+    "category": "bottle",
+    "description": "A cylindrical bottle with a white body, green cap, smooth surface, tapered neck, colorful label.",
+    "material": "plastic, paper",
+    "dimensions": "0.12 * 0.08 * 0.22",
+    "mass": 0.15,
+    "placement": [
+        "OnFloor",
+        "OnObject",
+        "OnTable"
+    ],
+    "asset_type": "rigid",
+    "glb_size": 0.41,
+    "usd_size": 0.54,
+    "usd_material_softlink": false,
+    "source": "holodeck"
+}

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1f8177e0a6c0e3e0d3c48e1f018e6ab0975235b22659f68c9fdb32500abc7b
+size 1859584

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5e2bcdd691f73491add535382491f7e3eb101944a6352e2113b3868d87d5494
+size 10277

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49866586ef94bc85b8b3d31b66c8c763278383d1b1c1866e40716b74fda47f06
+size 1839104

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3acc0fc17287450e6e6e6e1550e3fb864b531f9f72eeeb4ba6f098cdbb39e5b
+size 10277

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/002/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c2a09539c262f7a7a528edcd737610fde604baa763dba0b61a1580f90fd4d73
+size 1835008

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/002/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f545013ec2db9ba6f71ec5a45754d8c68f3f6815f474bab2d9ae835d10ad0a
+size 10277

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/003/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bbed9062489916e637c3a04782bd35a39e69868d5de69416f9875d6e543cee4
+size 1830912

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/003/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4dc02a3c6a9f69ea79030547dc81eb510483d58e9ff84fa8c1bc70373b1293d
+size 10277

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/004/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37970ffeaa02058e49cc11f3759d325a45083f103d1ee2e1f7337e8410ca689a
+size 1835008

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/004/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0997d43fda1f1b983a50477f351ea61e8ca4733e6ee824f260ecdcf06f76ef98
+size 10277

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/005/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:308a5f19fa34d06f5f638c1c2e7c7e721cc9a1a9b2676a8cc7413a15ffb25072
+size 1839104

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/005/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11cc87164ab60c14dc1e7440a6376e652d77ed778267dcc381de0c9f8ba12cf5
+size 9914

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/006/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c9761eb11203b7f9a07afe4827c804cc894d99469b465e7983d7ecb9f3be53
+size 1871872

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/006/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2403747435f6595bed633e2290dfb648b074744ec29be79e95faa3eb045da1ac
+size 9947

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/007/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa515c9e0394da59a5731887848fda2eb76dd5be2528c3e7343bffd6014a8f25
+size 1822720

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/007/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:780635af1895682636c1a1577e286d46a6881fc614b55f660339422f09cf4995
+size 9914

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/008/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa515c9e0394da59a5731887848fda2eb76dd5be2528c3e7343bffd6014a8f25
+size 1822720

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/008/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e43b5bdf2d639739c9cd3dd287c0a5175012ea98251ac8a07bb31c6187b310ab
+size 9914

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/009/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c9761eb11203b7f9a07afe4827c804cc894d99469b465e7983d7ecb9f3be53
+size 1871872

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/009/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f58240ee07b0fa6eab8d0271539a0b395d2e897d82ce2363fb53859bb79cc323
+size 9947

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/010/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c9761eb11203b7f9a07afe4827c804cc894d99469b465e7983d7ecb9f3be53
+size 1871872

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/010/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfb377b103a810f7092b006de9bf434cb7bc727e6d7a1c93d48bc840c43cb10d
+size 9960

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/011/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa515c9e0394da59a5731887848fda2eb76dd5be2528c3e7343bffd6014a8f25
+size 1822720

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/011/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:228b5d16824549b82c218671aebf68953e5e6137ecaf7c1bf4d8d4d29c9e6694
+size 9927

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/012/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c9761eb11203b7f9a07afe4827c804cc894d99469b465e7983d7ecb9f3be53
+size 1871872

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/012/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf32a2e2c5a55417f8f498a8d4f5fcbf4e032f0728cf8d842e2deca906f29885
+size 9960

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa515c9e0394da59a5731887848fda2eb76dd5be2528c3e7343bffd6014a8f25
+size 1822720

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/013/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33902e511c48162ebd211e64769ff0b1ba5b7cb2bd94cedcd10859a19096e6b8
+size 9927

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c9761eb11203b7f9a07afe4827c804cc894d99469b465e7983d7ecb9f3be53
+size 1871872

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/014/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61f8c39841f9805bac7324dd2c22e991fec27a32532e732669f79b45ea19ed0b
+size 9960

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/015/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d1f8177e0a6c0e3e0d3c48e1f018e6ab0975235b22659f68c9fdb32500abc7b
+size 1859584

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/015/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f066d17c9ae25a674423ba30020c12d3332f41dd125d6e80b3fb10758a0d3a9a
+size 10269

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/016/lmdb/data.mdb

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37970ffeaa02058e49cc11f3759d325a45083f103d1ee2e1f7337e8410ca689a
+size 1835008

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/016/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0150674a7da55e976d4c92d1fbe06e6a6e2fb6ea8bafce1c608cf78ed4047ddf
+size 10269

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8af8865df56efd839262cfe6e01b52c61aaf2deac6b5745b4740808ad2910bd7
+size 1839104

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/017/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66e31347447d44df73b242164fe07905fb56c1929eba52d8a57f19aec4902c65
+size 10269

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37970ffeaa02058e49cc11f3759d325a45083f103d1ee2e1f7337e8410ca689a
+size 1835008

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/018/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cdc150ede95a72e27c242326d5de58e58a636ed6c6edef5e258ea734a53af52
+size 10269

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

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c08b24c0e9f03d2248635aff4ce40f7e0110dca37e7670f3ee0ebd03e8aba5d
+size 1830912

tasks/ebench/mobile_manip/apple_from_shelf_test_mini/019/meta_info.pkl

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1226ae6210df59e0654e19e7dc5c6aabcb8820f7d5cd367a2e5042cb1834a3a7
+size 10269

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

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

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

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

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

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

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

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

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

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