init commit

workflows/simbox/core/cameras/README.md

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+# Cameras
+
+Template-based cameras for simbox tasks. All cameras currently use a single generic implementation, `CustomCamera`, which is configured entirely from the task YAML.
+
+## Available cameras
+
+| Camera class    | Notes |
+|-----------------|-------|
+| `CustomCamera`  | Generic pinhole RGB-D camera with configurable intrinsics and pose. |
+
+Importing `CustomCamera` in your task (e.g. `banana.py`) is enough to register it via `@register_camera`.
+
+---
+
+## Customizing a camera configuration
+
+Camera behavior is controlled by the config (`cfg`) passed into `CustomCamera.__init__` in `banana.py`. You typically edit the YAML under `configs/simbox/...`.
+
+### 1. Top-level camera fields
+
+Each camera entry in the YAML should provide:
+
+- **`name`**: Unique camera name (string). Used for prim paths and as the key in `task.cameras`.
+- **`parent`**: Optional prim path (under the task root) that the camera mount is attached to. Empty string (`""`) means no specific parent.
+- **`translation`**: Initial camera translation in world or parent frame, as a list of three floats `[x, y, z]` (meters).
+- **`orientation`**: Initial camera orientation as a quaternion `[w, x, y, z]`.
+- **`camera_axes`**: Axes convention for `set_local_pose` (e.g. `[1.0, 0.0, 0.0]` etc. – follow existing configs).
+
+These values are used in `banana.py` when calling:
+
+```python
+camera.set_local_pose(
+    translation=cfg["translation"],
+    orientation=cfg["orientation"],
+    camera_axes=cfg["camera_axes"],
+)
+```
+
+### 2. Required `params` fields
+
+Inside each camera config there is a `params` dict that controls the optics and intrinsics. `CustomCamera` expects:
+
+- **`pixel_size`** (`float`, microns)
+  Physical pixel size on the sensor. Used to compute horizontal/vertical aperture and focal length.
+
+- **`f_number`** (`float`)
+  Lens f-number. Used in `set_lens_aperture(f_number * 100.0)`.
+
+- **`focus_distance`** (`float`, meters)
+  Focus distance passed to `set_focus_distance`.
+
+- **`camera_params`** (`[fx, fy, cx, cy]`)
+  Intrinsic matrix parameters in pixel units:
+  - `fx`, `fy`: focal lengths in x/y (pixels)
+  - `cx`, `cy`: principal point (pixels)
+
+- **`resolution_width`** (`int`)
+  Image width in pixels.
+
+- **`resolution_height`** (`int`)
+  Image height in pixels.
+
+Optional:
+
+- **`output_mode`** (`"rgb"` or `"diffuse_albedo"`, default `"rgb"`)
+  Controls which color source is used in `get_observations()`.
+
+### 3. How the parameters are used in `CustomCamera`
+
+Given `cfg["params"]`, `CustomCamera` does the following:
+
+- Computes the camera apertures and focal length:
+  - `horizontal_aperture = pixel_size * 1e-3 * width`
+  - `vertical_aperture = pixel_size * 1e-3 * height`
+  - `focal_length_x = fx * pixel_size * 1e-3`
+  - `focal_length_y = fy * pixel_size * 1e-3`
+  - `focal_length = (focal_length_x + focal_length_y) / 2`
+- Sets optical parameters:
+  - `set_focal_length(focal_length / 10.0)`
+  - `set_focus_distance(focus_distance)`
+  - `set_lens_aperture(f_number * 100.0)`
+  - `set_horizontal_aperture(horizontal_aperture / 10.0)`
+  - `set_vertical_aperture(vertical_aperture / 10.0)`
+  - `set_clipping_range(0.05, 1.0e5)`
+  - `set_projection_type("pinhole")`
+- Recomputes intrinsic matrix `K` on the fly:
+
+  ```python
+  fx = width * self.get_focal_length() / self.get_horizontal_aperture()
+  fy = height * self.get_focal_length() / self.get_vertical_aperture()
+  self.is_camera_matrix = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]])
+  ```
+
+### 4. Outputs from `get_observations()`
+
+`CustomCamera.get_observations()` returns a dict:
+
+- **`color_image`**: RGB image (`H x W x 3`, float32), either from `get_rgba()` or `DiffuseAlbedo` depending on `output_mode`.
+- **`depth_image`**: Depth map from `get_depth()` (same resolution as color).
+- **`camera2env_pose`**: 4x4 transform from camera to environment, computed from USD prims.
+- **`camera_params`**: 3x3 intrinsic matrix `K` as a Python list.
+
+These are the values consumed by tasks (e.g. `banana.py`) for perception and planning.
+
+---
+
+## Summary checklist for a new camera
+
+To add or tweak a camera in a task YAML:
+
+1. **Choose a `name`** and, optionally, a `parent` prim under the task root.
+2. **Set pose**: `translation`, `orientation` (quaternion `[w, x, y, z]`), and `camera_axes`.
+3. Under `params`, provide:
+   - `pixel_size`, `f_number`, `focus_distance`
+   - `camera_params = [fx, fy, cx, cy]`
+   - `resolution_width`, `resolution_height`
+   - optional `output_mode` (`"rgb"` or `"diffuse_albedo"`).
+4. Ensure your task (e.g. `banana.py`) constructs `CustomCamera` with this `cfg` (this is already wired up in the current code).

workflows/simbox/core/cameras/__init__.py

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+"""Camera module initialization."""
+
+from core.cameras.base_camera import CAMERA_DICT
+
+from .custom_camera import CustomCamera
+
+__all__ = [
+    "CustomCamera",
+    "get_camera_cls",
+    "get_camera_dict",
+]
+
+
+def get_camera_cls(category_name):
+    """Get camera class by category name."""
+    return CAMERA_DICT[category_name]
+
+
+def get_camera_dict():
+    """Get camera dictionary."""
+    return CAMERA_DICT

workflows/simbox/core/cameras/base_camera.py

@@ -0,0 +1,9 @@
+CAMERA_DICT = {}
+
+
+def register_camera(target_class):
+    # key = "_".join(re.sub(r"([A-Z0-9])", r" \1", target_class.__name__).split()).lower()
+    key = target_class.__name__
+    assert key not in CAMERA_DICT
+    CAMERA_DICT[key] = target_class
+    return target_class

workflows/simbox/core/cameras/custom_camera.py

@@ -0,0 +1,163 @@
+import numpy as np
+import omni.replicator.core as rep
+from core.cameras.base_camera import register_camera
+from omni.isaac.core.prims import XFormPrim
+from omni.isaac.core.utils.prims import get_prim_at_path
+from omni.isaac.core.utils.transformations import (
+    get_relative_transform,
+    pose_from_tf_matrix,
+)
+from omni.isaac.sensor import Camera
+
+
+@register_camera
+class CustomCamera(Camera):
+    """Generic pinhole RGB-D camera used in simbox tasks."""
+
+    def __init__(self, cfg, prim_path, root_prim_path, reference_path, name, *args, **kwargs):
+        """
+        Args:
+            cfg: Config dict with required keys:
+                - params: Dict containing:
+                    - pixel_size: Pixel size in microns
+                    - f_number: F-number
+                    - focus_distance: Focus distance in meters
+                    - camera_params: [fx, fy, cx, cy] camera intrinsics
+                    - resolution_width: Image width
+                    - resolution_height: Image height
+                - output_mode (optional): "rgb" or "diffuse_albedo"
+            prim_path: Camera prim path in USD stage
+            root_prim_path: Root prim path in USD stage
+            reference_path: Reference prim path for camera mounting
+            name: Camera name
+        """
+        # ===== Initialize camera =====
+        super().__init__(
+            prim_path=prim_path,
+            name=name,
+            resolution=(cfg["params"]["resolution_width"], cfg["params"]["resolution_height"]),
+            *args,
+            **kwargs,
+        )
+        self.initialize()
+        self.add_motion_vectors_to_frame()
+        self.add_semantic_segmentation_to_frame()
+        self.add_distance_to_image_plane_to_frame()
+
+        # ===== From cfg =====
+        pixel_size = cfg["params"].get("pixel_size")
+        f_number = cfg["params"].get("f_number")
+        focus_distance = cfg["params"].get("focus_distance")
+        fx, fy, cx, cy = cfg["params"].get("camera_params")
+        width = cfg["params"].get("resolution_width")
+        height = cfg["params"].get("resolution_height")
+        self.output_mode = cfg.get("output_mode", "rgb")
+
+        # ===== Compute and set camera parameters =====
+        horizontal_aperture = pixel_size * 1e-3 * width
+        vertical_aperture = pixel_size * 1e-3 * height
+        focal_length_x = fx * pixel_size * 1e-3
+        focal_length_y = fy * pixel_size * 1e-3
+        focal_length = (focal_length_x + focal_length_y) / 2
+
+        self.set_focal_length(focal_length / 10.0)
+        self.set_focus_distance(focus_distance)
+        self.set_lens_aperture(f_number * 100.0)
+        self.set_horizontal_aperture(horizontal_aperture / 10.0)
+        self.set_vertical_aperture(vertical_aperture / 10.0)
+        self.set_clipping_range(0.05, 1.0e5)
+        self.set_projection_type("pinhole")
+
+        fx = width * self.get_focal_length() / self.get_horizontal_aperture()
+        fy = height * self.get_focal_length() / self.get_vertical_aperture()
+        self.is_camera_matrix = np.array([[fx, 0.0, cx], [0.0, fy, cy], [0.0, 0.0, 1.0]])
+
+        self.reference_path = reference_path
+        self.root_prim_path = root_prim_path
+        self.parent_camera_prim_path = str(self.prim.GetParent().GetPath())
+        self.parent_camera_xform = XFormPrim(self.parent_camera_prim_path)
+
+        if self.output_mode == "diffuse_albedo":
+            self.add_diffuse_albedo_to_frame()
+
+    def add_diffuse_albedo_to_frame(self) -> None:
+        """Attach the diffuse_albedo annotator to this camera."""
+        if "DiffuseAlbedo" not in self._custom_annotators:
+            self._custom_annotators["DiffuseAlbedo"] = rep.AnnotatorRegistry.get_annotator("DiffuseAlbedo")
+            self._custom_annotators["DiffuseAlbedo"].attach([self._render_product_path])
+        self._current_frame["DiffuseAlbedo"] = None
+
+    def remove_diffuse_albedo_from_frame(self) -> None:
+        if self._custom_annotators["DiffuseAlbedo"] is not None:
+            self._custom_annotators["DiffuseAlbedo"].detach([self._render_product_path])
+            self._custom_annotators["DiffuseAlbedo"] = None
+        self._current_frame.pop("DiffuseAlbedo", None)
+
+    def add_specular_albedo_to_frame(self) -> None:
+        """Attach the specular_albedo annotator to this camera."""
+        if self._custom_annotators["SpecularAlbedo"] is None:
+            self._custom_annotators["SpecularAlbedo"] = rep.AnnotatorRegistry.get_annotator("SpecularAlbedo")
+            self._custom_annotators["SpecularAlbedo"].attach([self._render_product_path])
+        self._current_frame["SpecularAlbedo"] = None
+
+    def remove_specular_albedo_from_frame(self) -> None:
+        if self._custom_annotators["SpecularAlbedo"] is not None:
+            self._custom_annotators["SpecularAlbedo"].detach([self._render_product_path])
+            self._custom_annotators["SpecularAlbedo"] = None
+        self._current_frame.pop("SpecularAlbedo", None)
+
+    def add_direct_diffuse_to_frame(self) -> None:
+        """Attach the direct_diffuse annotator to this camera."""
+        if self._custom_annotators["DirectDiffuse"] is None:
+            self._custom_annotators["DirectDiffuse"] = rep.AnnotatorRegistry.get_annotator("DirectDiffuse")
+            self._custom_annotators["DirectDiffuse"].attach([self._render_product_path])
+        self._current_frame["DirectDiffuse"] = None
+
+    def remove_direct_diffuse_from_frame(self) -> None:
+        if self._custom_annotators["DirectDiffuse"] is not None:
+            self._custom_annotators["DirectDiffuse"].detach([self._render_product_path])
+            self._custom_annotators["DirectDiffuse"] = None
+        self._current_frame.pop("DirectDiffuse", None)
+
+    def add_indirect_diffuse_to_frame(self) -> None:
+        """Attach the indirect_diffuse annotator to this camera."""
+        if self._custom_annotators["IndirectDiffuse"] is None:
+            self._custom_annotators["IndirectDiffuse"] = rep.AnnotatorRegistry.get_annotator("IndirectDiffuse")
+            self._custom_annotators["IndirectDiffuse"].attach([self._render_product_path])
+        self._current_frame["IndirectDiffuse"] = None
+
+    def remove_indirect_diffuse_from_frame(self) -> None:
+        if self._custom_annotators["IndirectDiffuse"] is not None:
+            self._custom_annotators["IndirectDiffuse"].detach([self._render_product_path])
+            self._custom_annotators["IndirectDiffuse"] = None
+        self._current_frame.pop("IndirectDiffuse", None)
+
+    def get_observations(self):
+        if self.reference_path:
+            camera_mount2env_pose = get_relative_transform(
+                get_prim_at_path(self.reference_path), get_prim_at_path(self.root_prim_path)
+            )
+            camera_mount2env_pose = pose_from_tf_matrix(camera_mount2env_pose)
+            self.parent_camera_xform.set_local_pose(
+                translation=camera_mount2env_pose[0],
+                orientation=camera_mount2env_pose[1],
+            )
+        camera2env_pose = get_relative_transform(
+            get_prim_at_path(self.prim_path), get_prim_at_path(self.root_prim_path)
+        )
+
+        if self.output_mode == "rgb":
+            color_image = self.get_rgba()[..., :3]
+        elif self.output_mode == "diffuse_albedo":
+            color_image = self._custom_annotators["DiffuseAlbedo"].get_data()[..., :3]
+        else:
+            raise NotImplementedError
+
+        obs = {
+            "color_image": color_image,
+            "depth_image": self.get_depth(),
+            "camera2env_pose": camera2env_pose,
+            "camera_params": self.is_camera_matrix.tolist(),
+        }
+
+        return obs

workflows/simbox/core/configs/arenas/azure_loong_arena.yaml

@@ -0,0 +1,73 @@
+name: azure_loong_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.705]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0015, 0.0015, 0.001]
+    texture:
+      texture_lib: "val2017"
+      apply_randomization: False
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: False
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  # -
+  #   name: background0
+  #   target_class: PlaneObject
+  #   size: [3.0, 5.0]
+  #   translation: [-2, 0, 1]
+  #   euler: [0.0, 90.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: False
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background1
+  #   target_class: PlaneObject
+  #   size: [3.0, 5.0]
+  #   translation: [2, 0, 1]
+  #   euler: [0.0, 90.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: False
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background2
+  #   target_class: PlaneObject
+  #   size: [5.0, 3.0]
+  #   translation: [0, -2, 1]
+  #   euler: [90.0, 0.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: False
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background3
+  #   target_class: PlaneObject
+  #   size: [5.0, 3.0]
+  #   translation: [0, 2, 1]
+  #   euler: [90.0, 0.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: False
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+
+
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/base_arena.yaml

@@ -0,0 +1,73 @@
+name: base_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.35570302]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0015, 0.0015, 0.001]
+    texture:
+      texture_lib: "table_textures"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/clean_dark_arena.yaml

@@ -0,0 +1,74 @@
+name: clean_dark_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.001, 0.001053, 0.001056]
+    # scale: [0.0007, 0.001053, 0.001056]
+    texture:
+      texture_lib: "dark_table_textures" # "val2017/image"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/clean_light_arena.yaml

@@ -0,0 +1,74 @@
+name: clean_light_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.001, 0.001053, 0.001056]
+    # scale: [0.0007, 0.001053, 0.001056]
+    texture:
+      texture_lib: "light_table_textures" # "val2017/image"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/collaborate_arena.yaml

@@ -0,0 +1,72 @@
+name: collaborate_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    # scale: [0.000525, 0.001053, 0.001056]
+    scale: [0.001, 0.001002, 0.001056]
+    texture:
+      texture_lib: "table_textures"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/conveyor_arena.yaml

@@ -0,0 +1,71 @@
+name: conveyor_arena
+fixtures:
+  -
+    name: conveyor
+    path: long_horizon/conveyor/World.usd
+    target_class: ConveyorObject
+    translation: [-1.63, 0.0, 0.7]
+    quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [1, 1, 1]
+    linear_velocity: [0.05, 0, 0.0]
+    linear_track_list: ["track_03", "track_07"]
+    angular_velocity: [0.0, 0.0, 20]
+    angular_track_list: ["track_01", "track_02", "track_05", "track_06"]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/example.yaml

@@ -0,0 +1,37 @@
+name: example
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    scale: [0.000525, 0.001053, 0.001056]
+  # -
+  #   name: floor
+  #   target_class: PlaneObject
+  #   size: [5.0, 5.0]
+  #   translation: [0, 0, 0]
+  # -
+  #   name: background0
+  #   target_class: PlaneObject
+  #   size: [3.0, 5.0]
+  #   translation: [-2, 0, 1]
+  #   euler: [0.0, 90.0, 0.0]
+  # -
+  #   name: background1
+  #   target_class: PlaneObject
+  #   size: [3.0, 5.0]
+  #   translation: [2, 0, 1]
+  #   euler: [0.0, 90.0, 0.0]
+  # -
+  #   name: background2
+  #   target_class: PlaneObject
+  #   size: [5.0, 3.0]
+  #   translation: [0, -2, 1]
+  #   euler: [90.0, 0.0, 0.0]
+  # -
+  #   name: background3
+  #   target_class: PlaneObject
+  #   size: [5.0, 3.0]
+  #   translation: [0, 2, 1]
+  #   euler: [90.0, 0.0, 0.0]

workflows/simbox/core/configs/arenas/floor_arena.yaml

@@ -0,0 +1,74 @@
+name: floor_arena
+fixtures:
+  # -
+  #   name: table
+  #   path: table0/instance.usd
+  #   target_class: GeometryObject
+  #   translation: [0.0, 0.0, 0.375]
+  #   # euler: [0.0, 0.0, 0.0]
+  #   # quaternion: [1.0, 0.0, 0.0, 0.0]
+  #   scale: [0.001, 0.001053, 0.001056]
+  #   # scale: [0.0007, 0.001053, 0.001056]
+  #   texture:
+  #     texture_lib: "table_textures"
+  #     apply_randomization: True
+  #     texture_id: 0
+  #     texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/genie_pick_arena.yaml

@@ -0,0 +1,72 @@
+name: genie_pick_randomized_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    # scale: [0.001, 0.001053, 0.001056]
+    scale: [0.001, 0.0010029, 0.001056]
+    texture:
+      texture_lib: "table_textures"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/mid_table_arena.yaml

@@ -0,0 +1,72 @@
+name: mid_table_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.000525, 0.001053, 0.001056]
+    # scale: [0.0007, 0.001053, 0.001056]
+    texture:
+      texture_lib: "table_textures"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/pick_clean_arena.yaml

@@ -0,0 +1,75 @@
+name: pick_clean_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.001, 0.001053, 0.001056]
+    # scale: [0.0007, 0.001053, 0.001056]
+    # texture:
+    #   texture_lib: "table_textures"
+    #   apply_randomization: True
+    #   texture_id: 0
+    #   texture_scale: [0.001, 0.001]
+    # dataset: oo3d
+    # category: "plane"
+    # prim_path_child: Instance
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml

@@ -0,0 +1,72 @@
+name: pick_randomized_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.001, 0.001053, 0.001056]
+    # scale: [0.0007, 0.001053, 0.001056]
+    texture:
+      texture_lib: "table_textures"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/scene_arena.yaml

@@ -0,0 +1,22 @@
+name: scene_arena
+involved_scenes: dining_room_scene_info
+update_freq: 5000
+fixtures:
+  # 001
+  -
+    name: table
+    path: home_scenes/tables/dinning_room/model_8617414f380062817ad173f2ad2abc28_0.usd
+    target_class: GeometryObject
+    translation: [0, 0, 0]
+    scale: [0.01, 0.01, 0.01]
+    euler: [0.0, 0.0, 0.0]
+    apply_randomization: True
+  -
+    name: scene
+    path: home_scenes/rooms/dinning_room/MVUHLWYKTKJ5EAABAAAAAAY8_usd_dinning_room_0.usd
+    target_class: GeometryObject
+    scale: [0.01, 0.01, 0.01]
+    translation: [2.449, 1.016, -0.455]
+    euler: [0.0, 0.0, 0.0]
+    apply_randomization: True
+  

workflows/simbox/core/configs/arenas/sweep_arena.yaml

@@ -0,0 +1,72 @@
+name: sweep_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0005, 0.001053, 0.001056]
+    # scale: [0.001, 0.001053, 0.001056]
+    texture:
+      texture_lib: "table_textures"
+      apply_randomization: True
+      texture_id: 0
+      texture_scale: [0.001, 0.001]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [-2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 5.0]
+    translation: [2, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, -2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [5.0, 3.0]
+    translation: [0, 2, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/table_clean_arena.yaml

@@ -0,0 +1,75 @@
+name: pick_clean_arena
+fixtures:
+  -
+    name: table
+    path: table0/instance.usd
+    target_class: GeometryObject
+    translation: [0.0, 0.0, 0.375]
+    # euler: [0.0, 0.0, 0.0]
+    # quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.001, 0.001053, 0.001056]
+    # scale: [0.0007, 0.001053, 0.001056]
+    # texture:
+    #   texture_lib: "table_textures"
+    #   apply_randomization: True
+    #   texture_id: 0
+    #   texture_scale: [0.001, 0.001]
+    # dataset: oo3d
+    # category: "plane"
+    # prim_path_child: Instance
+  # -
+  #   name: floor
+  #   target_class: PlaneObject
+  #   size: [5.0, 5.0]
+  #   translation: [0, 0, 0]
+  #   texture:
+  #     texture_lib: "floor_textures"
+  #     apply_randomization: True
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background0
+  #   target_class: PlaneObject
+  #   size: [3.0, 5.0]
+  #   translation: [-2, 0, 1]
+  #   euler: [0.0, 90.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: True
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background1
+  #   target_class: PlaneObject
+  #   size: [3.0, 5.0]
+  #   translation: [2, 0, 1]
+  #   euler: [0.0, 90.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: True
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background2
+  #   target_class: PlaneObject
+  #   size: [5.0, 3.0]
+  #   translation: [0, -2, 1]
+  #   euler: [90.0, 0.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: True
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+  # -
+  #   name: background3
+  #   target_class: PlaneObject
+  #   size: [5.0, 3.0]
+  #   translation: [0, 2, 1]
+  #   euler: [90.0, 0.0, 0.0]
+  #   texture:
+  #     texture_lib: "background_textures"
+  #     apply_randomization: True
+  #     texture_id: 1
+  #     texture_scale: [1.0, 1.0]
+
+# affordance region should be defined here

workflows/simbox/core/configs/arenas/waic_hearth_arena.yaml

@@ -0,0 +1,22 @@
+name: waic_hearth_arena
+update_freq: 10
+fixtures:
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [5.0, 5.0]
+    translation: [0, 0, 0]
+    visible: False
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: scene
+    path: home_scenes/rooms/kitchen/MVUHLWYKTKJ5EAABAAAAADA8_usd_kitchen_0.usd
+    target_class: GeometryObject
+    scale: [0.015, 0.015, 0.015]
+    translation: [-5.89, -3.58, -0.3]
+    euler: [0.0, 0.0, 180.0]
+    apply_randomization: True 

workflows/simbox/core/configs/arenas/warehouse_conveyor_arena.yaml

@@ -0,0 +1,67 @@
+name: warehouse_conveyor_arena
+fixtures:
+  -
+    name: conveyor
+    path: long_horizon/conveyor/warehouse_conveyor.usdc
+    target_class: ConveyorObject
+    translation: [0, 0, 0.0]
+    quaternion: [1.0, 0.0, 0.0, 0.0]
+    scale: [1, 1, 1]
+    linear_velocity: [-0.05, 0, 0.0]
+    linear_track_list: ["track_01", "track_03"]
+    angular_velocity: [0.0, 0.0, -10]
+    angular_track_list: ["track_02", "track_04"]
+  -
+    name: floor
+    target_class: PlaneObject
+    size: [50.0, 50.0]
+    translation: [0, 0, 0]
+    texture:
+      texture_lib: "floor_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background0
+    target_class: PlaneObject
+    size: [3.0, 10.0]
+    translation: [-5, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background1
+    target_class: PlaneObject
+    size: [3.0, 10.0]
+    translation: [5, 0, 1]
+    euler: [0.0, 90.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background2
+    target_class: PlaneObject
+    size: [10.0, 3.0]
+    translation: [0, -5, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]
+  -
+    name: background3
+    target_class: PlaneObject
+    size: [10.0, 3.0]
+    translation: [0, 3, 1]
+    euler: [90.0, 0.0, 0.0]
+    texture:
+      texture_lib: "background_textures"
+      apply_randomization: True
+      texture_id: 1
+      texture_scale: [1.0, 1.0]

workflows/simbox/core/configs/cameras/astra.yaml

@@ -0,0 +1,8 @@
+camera_type: "Astra"
+camera_params: [488.52, 488.52, 323.93, 219.15]
+resolution_width: 640
+resolution_height: 480
+frequency: 30
+pixel_size: 2.0
+f_number: 2.0
+focus_distance: 0.5

workflows/simbox/core/configs/cameras/realsense_d405.yaml

@@ -0,0 +1,8 @@
+camera_type: "RealSense"
+camera_params: [433.89, 433.38, 322.79, 243.14]
+resolution_width: 640
+resolution_height: 480
+frequency: 30
+pixel_size: 3
+f_number: 2.0
+focus_distance: 0.6

workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml

@@ -0,0 +1,8 @@
+camera_type: "RealSense"
+camera_params: [433.89, 433.38, 431.90, 241.39]
+resolution_width: 848
+resolution_height: 480
+frequency: 30
+pixel_size: 3
+f_number: 2.0
+focus_distance: 0.6

workflows/simbox/core/configs/cameras/realsense_d435i.yaml

@@ -0,0 +1,8 @@
+camera_type: "RealSense"
+camera_params: [605.451, 605.137, 320.778, 255.816]
+resolution_width: 640
+resolution_height: 480
+frequency: 30
+pixel_size: 3.0
+f_number: 2.0
+focus_distance: 0.5

workflows/simbox/core/configs/cameras/realsense_d455.yaml

@@ -0,0 +1,8 @@
+camera_type: "RealSense"
+camera_params: [323.52, 323.17, 319.55, 182.18]
+resolution_width: 640
+resolution_height: 360
+frequency: 30
+pixel_size: 3.0
+f_number: 2.0
+focus_distance: 0.6

workflows/simbox/core/configs/cameras/realsense_d455_v2.yaml

@@ -0,0 +1,8 @@
+camera_type: "RealSense"
+camera_params: [381.49, 381.16, 318.08, 244.28]
+resolution_width: 640
+resolution_height: 480
+frequency: 30
+pixel_size: 3.0
+f_number: 2.0
+focus_distance: 0.6

workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml

@@ -0,0 +1,8 @@
+camera_type: "RealSense"
+camera_params: [647.04, 646.34, 639.1, 364.36]
+resolution_width: 1280
+resolution_height: 720
+frequency: 30
+pixel_size: 3.0
+f_number: 2.0
+focus_distance: 0.6

workflows/simbox/core/configs/logger.yaml

@@ -0,0 +1 @@
+placeholder: 0  # todo

workflows/simbox/core/configs/robots/fr3.yaml

@@ -0,0 +1,57 @@
+# FR3 robot configuration
+# Single-arm 7-DOF robot
+
+# Robot info
+target_class: FR3
+path: "franka/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/fr3_left_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.08
+gripper_min_width: 0.0
+tcp_offset: 0.1043
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [0, 1, 2, 3, 4, 5, 6]
+left_gripper_indices: [7]
+
+# Paths (relative to robot_prim_path)
+fl_ee_path: "fr3/panda_hand"
+fl_base_path: "fr3/panda_link0"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.1034, 1]
+  tool_tail: [0.0, 0.0, 0.0584, 1]
+  tool_side: [0.0, 0.04, 0.1034, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "fr3/panda_leftfinger"
+  - "fr3/panda_rightfinger"
+fl_forbid_collision_paths:
+  - "fr3/panda_link2"
+  - "fr3/panda_link3"
+  - "fr3/panda_link4"
+  - "fr3/panda_link5"
+  - "fr3/panda_link6"
+  - "fr3/panda_link7"
+  - "fr3/panda_link8"
+  - "fr3/panda_hand"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, 0.0, -1.0], [0.0, 1.0, 0.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Default joint home positions
+left_joint_home: [0, -0.785, 0, -2.356, 0, 1.571, 0.785]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.04]

workflows/simbox/core/configs/robots/franka_robotiq85.yaml

@@ -0,0 +1,59 @@
+# FrankaRobotiq85 robot configuration
+# Single-arm 7-DOF robot with Robotiq 2F-85 gripper
+
+# Robot info
+target_class: FrankaRobotiq85
+path: "frankarobotiq/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/frankarobotiq_left_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.085
+gripper_min_width: 0.0
+tcp_offset: 0.165
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [0, 1, 2, 3, 4, 5, 6]
+left_gripper_indices: [7, 8]
+
+# Paths
+fl_ee_path: "arm/panda_link8"
+fl_base_path: "arm/panda_link0"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.155, 1]
+  tool_tail: [0.0, 0.0, 0.025, 1]
+  tool_side: [0.0, 0.045, 0.155, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "arm/Robotiq_2F_85/left_inner_finger_pad"
+  - "arm/Robotiq_2F_85/right_inner_finger_pad"
+fl_forbid_collision_paths:
+  - "arm/panda_link2"
+  - "arm/panda_link3"
+  - "arm/panda_link4"
+  - "arm/panda_link5"
+  - "arm/panda_link6"
+  - "arm/panda_link7"
+  - "arm/panda_link8"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, 0.0, -1.0], [0.0, 1.0, 0.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Extra depth file
+extra_depth_file: "tcp2base_offset.json"
+
+# Default joint home positions
+left_joint_home: [0, -0.785, 0, -2.356, 0, 1.571, 0.0]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.0, 0.0]

workflows/simbox/core/configs/robots/genie1.yaml

@@ -0,0 +1,80 @@
+# Genie1 robot configuration
+# Dual-arm 7-DOF robot with body and head joints
+
+# Robot info
+target_class: Genie1
+path: "G1_120s/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/G1_120s_left_arm_parallel_gripper.yml
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/G1_120s_right_arm_parallel_gripper.yml
+
+# Gripper parameters
+gripper_max_width: 0.1
+gripper_min_width: 0.0
+tcp_offset: 0.217
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [4, 6, 8, 10, 12, 14, 16]
+right_joint_indices: [5, 7, 9, 11, 13, 15, 17]
+left_gripper_indices: [19]
+right_gripper_indices: [21]
+body_indices: [0, 1]
+head_indices: [2, 3]
+
+# Paths
+fl_ee_path: "arm_l_end_link"
+fr_ee_path: "arm_r_end_link"
+fl_base_path: "arm_base_link"
+fr_base_path: "arm_base_link"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.217, 1]
+  tool_tail: [0.0, 0.0, 0.03, 1]
+  tool_side: [0.05, 0.0, 0.217, 1]
+fr_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.217, 1]
+  tool_tail: [0.0, 0.0, 0.03, 1]
+  tool_side: [0.05, 0.0, 0.217, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "gripper_l_outer_link5"
+  - "gripper_l_inner_link5"
+fr_filter_paths:
+  - "gripper_r_outer_link5"
+  - "gripper_r_inner_link5"
+fl_forbid_collision_paths:
+  - "arm_l_link2"
+  - "arm_l_link3"
+  - "arm_l_link4"
+  - "arm_l_link5"
+fr_forbid_collision_paths:
+  - "arm_r_link2"
+  - "arm_r_link3"
+  - "arm_r_link4"
+  - "arm_r_link5"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, 1.0, 0.0], [0.0, 0.0, 1.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Extra depth file
+extra_depth_file: "tcp2base_offset.json"
+
+# Default joint home positions
+left_joint_home: [-1.069, 0.608, 0.279, -1.278, 0.727, 1.489, -0.186]
+right_joint_home: [1.074, -0.611, -0.280, 1.284, -0.730, -1.495, 0.188]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [1.0]
+right_gripper_home: [1.0]
+body_home: [0.32, 0.63]
+head_home: [0.0, 0.349]

workflows/simbox/core/configs/robots/lift2.yaml

@@ -0,0 +1,75 @@
+# Lift2 robot configuration
+# Dual-arm 6-DOF robot with lift joint
+
+# Robot info
+target_class: Lift2
+path: "lift2/robot_invisible.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/r5a_left_arm.yml
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/r5a_right_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.088
+gripper_min_width: 0.0
+tcp_offset: 0.125
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [10, 12, 14, 16, 18, 20]
+right_joint_indices: [9, 11, 13, 15, 17, 19]
+left_gripper_indices: [23]
+right_gripper_indices: [21]
+lift_indices: [6]
+
+# Paths
+fl_ee_path: "lift2/lift2/fl/link6"
+fr_ee_path: "lift2/lift2/fr/link6"
+fl_base_path: "lift2/lift2/fl/base_link"
+fr_base_path: "lift2/lift2/fr/base_link"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.135, 0.0, 0.0, 1]
+  tool_tail: [0.085, 0.0, 0.0, 1]
+  tool_side: [0.135, -0.044, 0.0, 1]
+fr_gripper_keypoints:
+  tool_head: [0.135, 0.0, 0.0, 1]
+  tool_tail: [0.085, 0.0, 0.0, 1]
+  tool_side: [0.135, -0.044, 0.0, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "lift2/lift2/fl/link7"
+  - "lift2/lift2/fl/link8"
+fr_filter_paths:
+  - "lift2/lift2/fr/link7"
+  - "lift2/lift2/fr/link8"
+fl_forbid_collision_paths:
+  - "lift2/lift2/fl/link2"
+  - "lift2/lift2/fl/link3"
+  - "lift2/lift2/fl/link4"
+  - "lift2/lift2/fl/link5"
+fr_forbid_collision_paths:
+  - "lift2/lift2/fr/link2"
+  - "lift2/lift2/fr/link3"
+  - "lift2/lift2/fr/link4"
+  - "lift2/lift2/fr/link5"
+
+# Pose processing (X-axis gripper)
+R_ee_graspnet: [[1.0, 0.0, 0.0], [0.0, -1.0, 0.0], [0.0, 0.0, -1.0]]
+ee_axis: "x"
+
+# Default joint home positions
+left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.044]
+right_gripper_home: [0.044]
+lift_home: [0.46]

workflows/simbox/core/configs/robots/split_aloha.yaml

@@ -0,0 +1,73 @@
+# SplitAloha robot configuration
+# Dual-arm 6-DOF robot
+
+# Robot info
+target_class: SplitAloha
+path: "split_aloha_mid_360/robot.usd"
+
+# CuRobo file
+robot_file:
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/piper100_left_arm.yml
+  - workflows/simbox/curobo/src/curobo/content/configs/robot/piper100_right_arm.yml
+
+# Gripper parameters
+gripper_max_width: 0.10
+gripper_min_width: 0.0
+tcp_offset: 0.12
+
+# Solver parameters
+solver_position_iteration_count: 128
+solver_velocity_iteration_count: 4
+stabilization_threshold: 0.005
+
+# Joint indices
+left_joint_indices: [12, 14, 16, 18, 20, 22]
+right_joint_indices: [13, 15, 17, 19, 21, 23]
+left_gripper_indices: [24]
+right_gripper_indices: [26]
+
+# Paths
+fl_ee_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"
+fr_ee_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"
+fl_base_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/arm_base"
+fr_base_path: "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/arm_base"
+
+# Gripper keypoints
+fl_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.12, 1]
+  tool_tail: [0.0, 0.0, 0.06, 1]
+  tool_side: [-0.05, 0.0, 0.12, 1]
+fr_gripper_keypoints:
+  tool_head: [0.0, 0.0, 0.12, 1]
+  tool_tail: [0.0, 0.0, 0.06, 1]
+  tool_side: [-0.05, 0.0, 0.12, 1]
+
+# Collision paths
+fl_filter_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link7"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link8"
+fr_filter_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link7"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link8"
+fl_forbid_collision_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link2"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link3"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link4"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link5"
+fr_forbid_collision_paths:
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link2"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link3"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link4"
+  - "split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link5"
+
+# Pose processing (Z-axis gripper)
+R_ee_graspnet: [[0.0, -1.0, 0.0], [0.0, 0.0, -1.0], [1.0, 0.0, 0.0]]
+ee_axis: "z"
+
+# Default joint home positions
+left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+left_gripper_home: [0.05]
+right_gripper_home: [0.05]

workflows/simbox/core/configs/tasks/art/franka/close_the_electriccooker/close_the_electriccooker.yaml

@@ -0,0 +1,173 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.785, 0.875]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/electriccooker
+
+    regions:
+      -
+        object: close_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_electrickcooker"
+      language_instruction: "Close the electrickcooker."
+      detailed_language_instruction: "Close the electrickcooker."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.001 # 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.05
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.05 # 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.045]] # 0.03   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [
+                      ["rotate", 0.5],
+                      ["rotate", 0.3],
+                      ["rotate", 0.2],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                    ] # ["translate_z", 0.08],
+
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -5
+                      x_max: 5
+                      y_min: 0
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.02
+                      x_max: 0.02
+                      y_min: -0.02
+                      y_max: 0.02
+                      z_min: -0.03
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/franka/close_the_laptop/close_the_laptop.yaml

@@ -0,0 +1,173 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.785, 0.875]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/laptop
+
+    regions:
+      -
+        object: close_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_laptop"
+      language_instruction: "Close the laptop."
+      detailed_language_instruction: "Close the laptop."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.001 # 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.05
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.05 # 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.045]] # 0.03   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [
+                      ["rotate", 0.5],
+                      ["rotate", 0.3],
+                      ["rotate", 0.2],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                    ] # ["translate_z", 0.08],
+
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -5
+                      x_max: 5
+                      y_min: 0
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.02
+                      x_max: 0.02
+                      y_min: -0.02
+                      y_max: 0.02
+                      z_min: -0.03
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part0.yaml

@@ -0,0 +1,168 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 1.0]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        # fix_base: True
+        art_cat: art/microwave_gr
+
+    regions:
+      -
+        object: close_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.0, 0.0],
+            [0.25, 0.25, 0.0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.15],
+            [0.025, -0.50, 0.05]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_microwave_part0"
+      language_instruction: "Close the microwave."
+      detailed_language_instruction: "Close the microwave door."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.2
+                      target_inner_product: 0.5
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_z", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -3
+                      y_max: 3
+                      z_min: -25
+                      z_max: 25
+                    position:
+                      x_min: -0.05
+                      x_max: 0.0
+                      y_min: -0.1
+                      y_max: 0.0
+                      z_min: -0.02
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/franka/close_the_microwave/close_the_microwave_part1.yaml

@@ -0,0 +1,168 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 1.0]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        # fix_base: True
+        art_cat: art/microwave_im
+
+    regions:
+      -
+        object: close_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.05, 0.0],
+            [0.25, 0.30, 0.0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.15],
+            [0.025, -0.50, 0.05]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_microwave_part1"
+      language_instruction: "Close the microwave."
+      detailed_language_instruction: "Close the microwave door."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.2
+                      target_inner_product: 0.5
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_z", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -3
+                      y_max: 3
+                      z_min: -25
+                      z_max: 25
+                    position:
+                      x_min: -0.05
+                      x_max: 0.0
+                      y_min: -0.1
+                      y_max: 0.0
+                      z_min: -0.02
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/franka/close_the_pot/close_the_pot.yaml

@@ -0,0 +1,173 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.785, 0.875]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/pot
+
+    regions:
+      -
+        object: close_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_pot"
+      language_instruction: "Close the pot."
+      detailed_language_instruction: "Close the pot."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.001 # 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.05
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.05 # 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.045]] # 0.03   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [
+                      ["rotate", 0.5],
+                      ["rotate", 0.3],
+                      ["rotate", 0.2],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                    ] # ["translate_z", 0.08],
+
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -5
+                      x_max: 5
+                      y_min: 0
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.02
+                      x_max: 0.02
+                      y_min: -0.02
+                      y_max: 0.02
+                      z_min: -0.03
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/franka/close_the_trashcan/close_the_trashcan.yaml

@@ -0,0 +1,173 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.785, 0.875]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/trashcan
+
+    regions:
+      -
+        object: close_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_trashcan"
+      language_instruction: "Close the trashcan."
+      detailed_language_instruction: "Close the trashcan."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.001 # 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.05
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.05 # 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.045]] # 0.03   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [
+                      ["rotate", 0.5],
+                      ["rotate", 0.3],
+                      ["rotate", 0.2],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                    ] # ["translate_z", 0.08],
+
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -5
+                      x_max: 5
+                      y_min: 0
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.02
+                      x_max: 0.02
+                      y_min: -0.02
+                      y_max: 0.02
+                      z_min: -0.03
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part0.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/floor_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material", "table"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: gr
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 0.8]
+        apply_randomization: True
+        fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/washingmachine_left
+
+    regions:
+      -
+        object: close_v_left
+        target: floor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.28, 0.0],
+            [0.25, 0.45, 0.0]
+          ]
+          yaw_rotation: [-15, 15]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: floor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.075],
+            [0.025, -0.50, 0.075]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_washingmachine_part0"
+      language_instruction: "Close the washingmachine."
+      detailed_language_instruction: "Close the washingmachine."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.2
+                      target_inner_product: 0.5
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_z", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -3
+                      y_max: 3
+                      z_min: -25
+                      z_max: 25
+                    position:
+                      x_min: -0.05
+                      x_max: 0.0
+                      y_min: -0.1
+                      y_max: 0.0
+                      z_min: -0.02
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/franka/close_the_washingmachine/close_the_washingmachine_part1.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/floor_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material", "table"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: gr
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 0.8]
+        apply_randomization: True
+        fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/washingmachine_right
+
+    regions:
+      -
+        object: close_v_left
+        target: floor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.28, 0.0],
+            [0.25, 0.45, 0.0]
+          ]
+          yaw_rotation: [-15, 15]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: floor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.075],
+            [0.025, -0.50, 0.075]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "close_the_washingmachine_part1"
+      language_instruction: "Close the washingmachine."
+      detailed_language_instruction: "Close the washingmachine."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.2
+                      target_inner_product: 0.5
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_z", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",-0.15],["rotate",-0.15], ["rotate",-0.15],  ["rotate",-0.1], ["rotate",-0.1],["rotate",-0.1], ["rotate",-0.1], ["rotate",-0.1], ["rotate",-0.1],["rotate",-0.1],["rotate",-0.05], ["rotate",-0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -3
+                      y_max: 3
+                      z_min: -25
+                      z_max: 25
+                    position:
+                      x_min: -0.05
+                      x_max: 0.0
+                      y_min: -0.1
+                      y_max: 0.0
+                      z_min: -0.02
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/franka/open_the_laptop/open_the_laptop.yaml

@@ -0,0 +1,164 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.5, 0.6]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/laptop
+
+    regions:
+      -
+        object: open_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "open_the_laptop"
+      language_instruction: "Open the laptop."
+      detailed_language_instruction: "Grasp the lid of the laptop and swing it open."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 500
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: open
+                objects: [open_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis_from_keypoint_name: articulated_object_tail
+                      target_axis_to_keypoint_name: articulated_object_head
+                      tolerance: 0.0005
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.07]] # avoid high-difficulty motions seen in collected training demos
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  modify_actuation_motion: ["translate_z", 0.02] # move 0.02 deeper along this axis
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part0.yaml

@@ -0,0 +1,163 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        # fix_base: True
+        art_cat: art/microwave_gr
+
+    regions:
+      -
+        object: open_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.0, 0.0],
+            [0.35, 0.25, 0.0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.15],
+            [0.025, -0.50, 0.05]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "open_the_microwave_part0"
+      language_instruction: "Open the microwave."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 500
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.7
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_z", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2],["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.01
+                      y_max: 0.01
+                      z_min: -0.03
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/franka/open_the_microwave/open_the_microwave_part1.yaml

@@ -0,0 +1,163 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        # fix_base: True
+        art_cat: art/microwave_im
+
+    regions:
+      -
+        object: open_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.05, 0.0],
+            [0.35, 0.30, 0.0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.15],
+            [0.025, -0.50, 0.05]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "open_the_microwave_part1"
+      language_instruction: "Open the microwave."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 500
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.7
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_z", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2],["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.01
+                      y_max: 0.01
+                      z_min: -0.03
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/franka/open_the_pot/open_the_pot.yaml

@@ -0,0 +1,164 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.5, 0.6]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/pot
+
+    regions:
+      -
+        object: open_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "open_the_pot"
+      language_instruction: "Open the pot."
+      detailed_language_instruction: "Grasp the lid of the pot and swing it open."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 500
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: open
+                objects: [open_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis_from_keypoint_name: articulated_object_tail
+                      target_axis_to_keypoint_name: articulated_object_head
+                      tolerance: 0.0005
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.07]] # avoid high-difficulty motions seen in collected training demos
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  modify_actuation_motion: ["translate_z", 0.02] # move 0.02 deeper along this axis
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/franka/open_the_trashcan/open_the_trashcan.yaml

@@ -0,0 +1,164 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home_std: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_h_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_h"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.5, 0.6]
+        apply_randomization: True
+        # fix_base: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/trashcan
+
+    regions:
+      -
+        object: open_h_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.20, 0],
+            [0.35, 0.1, 0]
+          ]
+          yaw_rotation: [-45, 45]
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.50, -0.1],
+            [0.025, -0.50, 0.1]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "${tasks.0.robots.0.name}/fr3/panda_hand"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.85, -0.75, 1.45]
+        orientation: [0.73, 0.50, 0.26, 0.39]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "open_the_trashcan"
+      language_instruction: "Open the trashcan."
+      detailed_language_instruction: "Grasp the lid of the trashcan and swing it open."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 500
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: open
+                objects: [open_h_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis_from_keypoint_name: articulated_object_tail
+                      target_axis_to_keypoint_name: articulated_object_head
+                      tolerance: 0.0005
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.07]] # avoid high-difficulty motions seen in collected training demos
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  modify_actuation_motion: ["translate_z", 0.02] # move 0.02 deeper along this axis
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part0.yaml

@@ -0,0 +1,180 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 0.8]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_gr
+
+    regions:
+      -
+        object: close_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "close_the_microwave_part0"
+      language_instruction: "Close the microwave with left arm."
+      detailed_language_instruction: "Close the microwave door with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.1 # 0.0
+                      z_min: -0.05 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/left/close_the_microwave_part1.yaml

@@ -0,0 +1,180 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 0.8]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_im
+
+    regions:
+      -
+        object: close_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.05, 0.0],
+            [0.05, 0.20, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "close_the_microwave_part1"
+      language_instruction: "Close the microwave with left arm."
+      detailed_language_instruction: "Close the microwave door with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.1 # 0.0
+                      z_min: -0.05 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part2.yaml

@@ -0,0 +1,180 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_right
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 0.8]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_gr
+
+    regions:
+      -
+        object: close_v_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.25, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "close_the_microwave_part2"
+      language_instruction: "Close the microwave with right arm."
+      detailed_language_instruction: "Close the microwave door with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: close
+                objects: [close_v_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.1 # 0.0
+                      z_min: -0.05 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/lift2/close_the_microwave/right/close_the_microwave_part3.yaml

@@ -0,0 +1,180 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_right
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.6, 0.8]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_im
+
+    regions:
+      -
+        object: close_v_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.05, 0.0],
+            [0.30, 0.20, 0.00]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "close_the_microwave_part3"
+      language_instruction: "Close the microwave with right arm."
+      detailed_language_instruction: "Close the microwave door with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: close
+                objects: [close_v_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.1 # 0.0
+                      z_min: -0.05 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/lift2/close_the_package/close_the_package.yaml

@@ -0,0 +1,403 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        # right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        # left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        # right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: carton
+        target_class: ArticulatedObject
+        dataset: pm
+        euler: [0.0, 0.0, -90.0]
+        strict_init:
+          joint_positions: [1.3, -1.3]
+          joint_indices: [0, 1]
+        info_name: "close_h_left"
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        optimize_2d_layout: False
+        art_cat: art/close_the_package/carton
+
+    regions:
+      -
+        object: carton
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.2, 0.0],
+            [0.05, -0.025, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.8, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "close_the_package"
+      language_instruction: "Close the package."
+      detailed_language_instruction: "Close the package."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: artpreplan
+                objects: [carton]
+                obj_info_path: art/close_the_package/carton/carton_9/Kps/close_h_right/info.json
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  update_art_joint: True
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    # - axis_from_keypoint_name: tool_head
+                    #   axis_to_keypoint_name: tool_side
+                    #   cross_target_axis1_from_keypoint_name: articulated_object_head
+                    #   cross_target_axis1_to_keypoint_name: articulated_object_tail
+                    #   target_axis: link0_contact_axis
+                    #   target_axis_frame: object
+                    #   tolerance: 0.1
+                    #   target_inner_product: -1
+                    #   type: frame_axis_parallel
+                    #   name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",-0.15],["rotate",-0.15], ["rotate",-0.15],  ["rotate",-0.1], ["rotate",-0.1],["rotate",-0.1], ["rotate",-0.1], ["rotate",-0.1], ["rotate",-0.1],["rotate",-0.1],["rotate",-0.05], ["rotate",-0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: -0.03 # -0.02
+                      y_max: 0.0 # 0.0
+                      z_min: -0.03 # -0.05
+                      z_max: 0.03 # 0.0
+
+          -
+            left:
+              -
+                name: artpreplan
+                objects: [carton]
+                obj_info_path: art/close_the_package/carton/carton_9/Kps/close_h_left/info.json
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  update_art_joint: True
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    # - axis_from_keypoint_name: tool_head
+                    #   axis_to_keypoint_name: tool_side
+                    #   cross_target_axis1_from_keypoint_name: articulated_object_head
+                    #   cross_target_axis1_to_keypoint_name: articulated_object_tail
+                    #   target_axis: link0_contact_axis
+                    #   target_axis_frame: object
+                    #   tolerance: 0.1
+                    #   target_inner_product: -1
+                    #   type: frame_axis_parallel
+                    #   name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.03 # 0.0
+                      z_min: -0.03 # -0.05
+                      z_max: 0.03 # 0.0
+
+          -
+            right:
+              -
+                name: close
+                objects: [carton]
+                obj_info_path: art/close_the_package/carton/carton_9/Kps/close_h_right/info.json
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  update_art_joint: True
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    # - axis_from_keypoint_name: tool_head
+                    #   axis_to_keypoint_name: tool_side
+                    #   cross_target_axis1_from_keypoint_name: articulated_object_head
+                    #   cross_target_axis1_to_keypoint_name: articulated_object_tail
+                    #   target_axis: link0_contact_axis
+                    #   target_axis_frame: object
+                    #   tolerance: 0.1
+                    #   target_inner_product: -1
+                    #   type: frame_axis_parallel
+                    #   name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",-0.15],["rotate",-0.15], ["rotate",-0.15],  ["rotate",-0.1], ["rotate",-0.1],["rotate",-0.1], ["rotate",-0.1], ["rotate",-0.1], ["rotate",-0.1],["rotate",-0.1],["rotate",-0.05], ["rotate",-0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: -0.03 # -0.02
+                      y_max: 0.0 # 0.0
+                      z_min: -0.03 # -0.05
+                      z_max: 0.03 # 0.0
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+          -
+            left:
+              -
+                name: close
+                objects: [carton]
+                obj_info_path: art/close_the_package/carton/carton_9/Kps/close_h_left/info.json
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  update_art_joint: True
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    # - axis_from_keypoint_name: tool_head
+                    #   axis_to_keypoint_name: tool_side
+                    #   cross_target_axis1_from_keypoint_name: articulated_object_head
+                    #   cross_target_axis1_to_keypoint_name: articulated_object_tail
+                    #   target_axis: link0_contact_axis
+                    #   target_axis_frame: object
+                    #   tolerance: 0.1
+                    #   target_inner_product: -1
+                    #   type: frame_axis_parallel
+                    #   name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.05
+                      target_inner_product: 1.0
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.03 # 0.0
+                      z_min: -0.03 # -0.05
+                      z_max: 0.03 # 0.0
+          -
+            left:
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper

workflows/simbox/core/configs/tasks/art/lift2/heat_the_food_in_the_microwave/heat_the_food_in_the_microwave.yaml

@@ -0,0 +1,306 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+    objects:
+      -
+        name: microwave
+        target_class: ArticulatedObject
+        dataset: pm
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [1.2, 1.2]
+        info_name: "close_v"
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        optimize_2d_layout: False
+        art_cat: art/heat_the_food_in_the_microwave/microwave
+      -
+        name: pick_0
+        path: art/heat_the_food_in_the_microwave/pick_objs/omniobject3d-bread_090/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 0.0]  # stable init pose
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        optimize_2d_layout: False
+
+    regions:
+      -
+        object: microwave
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.05, 0.0],
+            [0.05, 0.05, 0.0]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: pick_0
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.15, -0.30, 0.005],
+            [0.25, -0.23, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.8, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "heat_the_food_in_the_microwave"
+      language_instruction: "Pick all the objects into the microwave and close the microwave"
+      detailed_language_instruction: "Pick all the objects into the microwave and close the microwave"
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: artpreplan
+                objects: [microwave]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.1 # 0.0
+                      z_min: -0.05 # -0.05
+                      z_max: 0.0 # 0.0
+          -
+            right:
+              -
+                name: pick
+                objects: [pick_0]
+                filter_z_dir: ["forward", 45]
+                filter_x_dir: ["downward", 135]
+                # filter_z_dir: ["upward", 60]
+                # filter_x_dir: ["forward", 90]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                post_grasp_offset_min: 0.05
+                post_grasp_offset_max: 0.1
+              -
+                name: place
+                place_part_prim_path: "base"
+                place_direction: "horizontal"
+                align_place_obj_axis: [1.0, 0.0, 0.0]
+                ignore_substring: ["microwave"]
+                objects: [pick_0, microwave]
+                # filter_z_dir: ["forward", 90]
+                # filter_x_dir: ["downward", 120]
+                filter_z_dir: ["upward", 45]
+                filter_x_dir: ["forward", 45]
+                y_ratio_range: [0.2, 0.4]
+                x_ratio_range: [0.4, 0.6]
+                z_ratio_range: [0.4, 0.6]
+                pre_place_z_offset: 0.05
+                place_z_offset: 0.05
+                post_place_vector: [-0.1, 0.0, 0.0]
+                # position_constraint: object
+                success_mode: xybbox
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+
+          -
+            left:
+              -
+                name: close
+                objects: [microwave]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_x", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -25
+                      x_max: 25
+                      y_min: -3
+                      y_max: 3
+                      z_min: -3
+                      z_max: 3
+                    position:
+                      x_min: -0.02 # -0.1
+                      x_max: 0.0 # 0.0
+                      y_min: 0.0 # -0.02
+                      y_max: 0.1 # 0.0
+                      z_min: -0.05 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_left_im.yaml

@@ -0,0 +1,195 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/floor_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [3000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: table
+        path: table0/instance.usd
+        target_class: GeometryObject
+        translation: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001053, 0.001056]
+        texture:
+          texture_lib: "table_textures"
+          apply_randomization: True
+          texture_id: 0
+          texture_scale: [0.001, 0.001]
+      -
+        name: open_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: articulations/microwave_im
+
+    regions:
+      -
+        object: table
+        target: floor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, 0.0, 0.0],
+            [0.0, 0.0, 0.2]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: open_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.05, 0.0],
+            [0.0, 0.20, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: floor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.85, 0.05],
+            [0.025, -0.80, 0.15]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+    data:
+      task_dir: "open_the_microwave_left"
+      language_instruction: "Open the microwave with left arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_x", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.03
+                      x_max: -0.01
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.04

workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part0.yaml

@@ -0,0 +1,175 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_gr
+
+    regions:
+      -
+        object: open_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.025, 0.0],
+            [0.05, 0.175, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "open_the_microwave_part0"
+      language_instruction: "Open the microwave with left arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_x", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.03
+                      x_max: -0.01
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.04

workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/left/open_the_microwave_part1.yaml

@@ -0,0 +1,175 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_im
+
+    regions:
+      -
+        object: open_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.05, 0.0],
+            [0.0, 0.20, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "open_the_microwave_part1"
+      language_instruction: "Open the microwave with left arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_x", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.03
+                      x_max: -0.01
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.04

workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part2.yaml

@@ -0,0 +1,175 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_right
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_gr
+
+    regions:
+      -
+        object: open_v_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.025, 0.0],
+            [0.25, 0.175, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "open_the_microwave_part2"
+      language_instruction: "Open the microwave with right arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: open
+                objects: [open_v_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_x", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.03
+                      x_max: -0.01
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.04

workflows/simbox/core/configs/tasks/art/lift2/open_the_microwave/right/open_the_microwave_part3.yaml

@@ -0,0 +1,175 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_right
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.34, 0.45]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/microwave_im
+
+    regions:
+      -
+        object: open_v_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.0, 0.05, 0.0],
+            [0.35, 0.20, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "open_the_microwave_part3"
+      language_instruction: "Open the microwave with right arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: open
+                objects: [open_v_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [ ["translate_x", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -3.0
+                      y_max: 3.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: -0.03
+                      x_max: -0.01
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.04

workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_bottom
+
+    regions:
+      -
+        object: pull_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "pull_the_storagefurniture_left_arm_bottom"
+      language_instruction: "Pull the storagefurniture with left arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: open
+                objects: [pull_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.04], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: -5.0
+                      x_max: 5.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: -0.03

workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_middle
+
+    regions:
+      -
+        object: pull_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.6],
+            [0.025, -0.80, -0.5]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "pull_the_storagefurniture_left_arm_middle"
+      language_instruction: "Pull the storagefurniture with left arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: open
+                objects: [pull_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.04], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: -5.0
+                      x_max: 5.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: -0.03

workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_top
+
+    regions:
+      -
+        object: pull_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.5],
+            [0.025, -0.80, -0.4]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "pull_the_storagefurniture_left_arm_top"
+      language_instruction: "Pull the storagefurniture with left arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: open
+                objects: [pull_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.04], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: -5.0
+                      x_max: 5.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: -0.03

workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_bottom
+
+    regions:
+      -
+        object: pull_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.40, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "pull_the_storagefurniture_right_arm_bottom"
+      language_instruction: "Pull the storagefurniture with right arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: open
+                objects: [pull_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.04], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: -5.0
+                      x_max: 5.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: -0.03

workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_middle
+
+    regions:
+      -
+        object: pull_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.40, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.6],
+            [0.025, -0.80, -0.5]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "pull_the_storagefurniture_right_arm_middle"
+      language_instruction: "Pull the storagefurniture with right arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: open
+                objects: [pull_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.04], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: -5.0
+                      x_max: 5.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: -0.03

workflows/simbox/core/configs/tasks/art/lift2/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_top
+
+    regions:
+      -
+        object: pull_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.40, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.5],
+            [0.025, -0.80, -0.4]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "pull_the_storagefurniture_right_arm_top"
+      language_instruction: "Pull the storagefurniture with right arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: open
+                objects: [pull_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.04], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05], ["translate_y", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: -5.0
+                      x_max: 5.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: -0.01
+                      x_max: 0.01
+                      y_min: -0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: -0.03

workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.175]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_bottom
+
+    regions:
+      -
+        object: push_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, -0.025, 0.0],
+            [0.05, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "push_the_storagefurniture_left_arm_bottom"
+      language_instruction: "Push the storagefurniture with left arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: close
+                objects: [push_art_left]
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_x", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.15],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:
+                      x_min: -45
+                      x_max: 45
+                      y_min: -3
+                      y_max: 3
+                      z_min: -5
+                      z_max: 5
+                    position:
+                      x_min: -0.02
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.005
+                      z_max: 0.005

workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.175]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_middle
+
+    regions:
+      -
+        object: push_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, -0.025, 0.0],
+            [0.05, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.6],
+            [0.025, -0.80, -0.5]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "push_the_storagefurniture_left_arm_middle"
+      language_instruction: "Push the storagefurniture with left arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: close
+                objects: [push_art_left]
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_x", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.15],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:
+                      x_min: -45
+                      x_max: 45
+                      y_min: -3
+                      y_max: 3
+                      z_min: -5
+                      z_max: 5
+                    position:
+                      x_min: -0.02
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.005
+                      z_max: 0.005

workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.175]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_top
+
+    regions:
+      -
+        object: push_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, -0.025, 0.0],
+            [0.05, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.5],
+            [0.025, -0.80, -0.4]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "push_the_storagefurniture_left_arm_top"
+      language_instruction: "Push the storagefurniture with left arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+              -
+                name: close
+                objects: [push_art_left]
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_x", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.15],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:
+                      x_min: -45
+                      x_max: 45
+                      y_min: -3
+                      y_max: 3
+                      z_min: -5
+                      z_max: 5
+                    position:
+                      x_min: -0.02
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.005
+                      z_max: 0.005

workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.175]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_bottom
+
+    regions:
+      -
+        object: push_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.025, 0.0],
+            [0.40, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.7],
+            [0.025, -0.80, -0.6]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "push_the_storagefurniture_right_arm_bottom"
+      language_instruction: "Push the storagefurniture with right arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: close
+                objects: [push_art_right]
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_x", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.15],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:
+                      x_min: -45
+                      x_max: 45
+                      y_min: -3
+                      y_max: 3
+                      z_min: -5
+                      z_max: 5
+                    position:
+                      x_min: -0.02
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.005
+                      z_max: 0.005

workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.175]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_middle
+
+    regions:
+      -
+        object: push_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.025, 0.0],
+            [0.40, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.6],
+            [0.025, -0.80, -0.5]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "push_the_storagefurniture_right_arm_middle"
+      language_instruction: "Push the storagefurniture with right arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: close
+                objects: [push_art_right]
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_x", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.15],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:
+                      x_min: -45
+                      x_max: 45
+                      y_min: -3
+                      y_max: 3
+                      z_min: -5
+                      z_max: 5
+                    position:
+                      x_min: -0.02
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.005
+                      z_max: 0.005

workflows/simbox/core/configs/tasks/art/lift2/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.175]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: art/storagefurniture_top
+
+    regions:
+      -
+        object: push_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.025, 0.0],
+            [0.40, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: lift2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.8, -0.5],
+            [0.025, -0.80, -0.4]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: False
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: False
+
+    data:
+      task_dir: "push_the_storagefurniture_right_arm_top"
+      language_instruction: "Push the storagefurniture with right arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: close
+                objects: [push_art_right]
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_x", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_x", 0.15],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05],["translate_x", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:
+                      x_min: -45
+                      x_max: 45
+                      y_min: -3
+                      y_max: 3
+                      z_min: -5
+                      z_max: 5
+                    position:
+                      x_min: -0.02
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.005
+                      z_max: 0.005

workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/left/close_the_microwave_part0.yaml

@@ -0,0 +1,174 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.78, 0.875]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/microwave_gr"
+
+    regions:
+      -
+        object: close_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.30, -0.05, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.86, -0.765],
+            [0.0, -0.86, -0.765]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "close_the_microwave_part0"
+      language_instruction: "Close the microwave with left arm."
+      detailed_language_instruction: "Close the microwave door with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: close
+                objects: [close_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_z", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -3
+                      y_max: 3
+                      z_min: -30
+                      z_max: 30
+                    position:
+                      x_min: 0.0 # -0.1
+                      x_max: 0.1 # 0.0
+                      y_min: -0.05 # -0.02
+                      y_max: 0.0 # 0.0
+                      z_min: -0.02 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/close_the_microwave/right/close_the_microwave_part1.yaml

@@ -0,0 +1,174 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_v_right
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "close_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.78, 0.875]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/microwave_gr"
+
+    regions:
+      -
+        object: close_v_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.30, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.765],
+            [0.025, -0.86, -0.765]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "close_the_microwave_part1"
+      language_instruction: "Close the microwave with right arm."
+      detailed_language_instruction: "Close the microwave door with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: close
+                objects: [close_v_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.08
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.0001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.005
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [ ["translate_z", -0.05]]  #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions:  [ ["rotate",0.15],["rotate",0.15], ["rotate",0.15],  ["rotate",0.1], ["rotate",0.1],["rotate",0.1], ["rotate",0.1], ["rotate",0.1], ["rotate",0.1],["rotate",0.1],["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+                  # post_actuation_motions:  [ ["rotate",0.1],["rotate",0.1], ["rotate",0.1],  ["rotate",0.1], ["rotate",0.1],["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05], ["rotate",0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -3
+                      y_max: 3
+                      z_min: -30
+                      z_max: 30
+                    position:
+                      x_min: 0.0 # -0.1
+                      x_max: 0.1 # 0.0
+                      y_min: -0.05 # -0.02
+                      y_max: 0.0 # 0.0
+                      z_min: -0.02 # -0.05
+                      z_max: 0.0 # 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/left/close_the_oven_part0.yaml

@@ -0,0 +1,180 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        # right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_h_down_left
+        target_class: ArticulatedObject
+        dataset: grutopia
+        info_name: "close_h_down"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.30, 0.30]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/oven"
+
+    regions:
+      -
+        object: close_h_down_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.05, 0.005],
+            [0.05, 0.15, 0.005]
+          ]
+          yaw_rotation: [-10, 10]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "close_the_oven_part0"
+      language_instruction: "Close the oven with left arm."
+      detailed_language_instruction: "Close the oven door with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: close
+                objects: [close_h_down_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.03
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.001 # 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis_from_keypoint_name: articulated_object_head
+                      target_axis_to_keypoint_name: articulated_object_tail
+                      target_axis_frame: object
+                      tolerance: 0.05
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.5 # 0.05
+                      target_inner_product: 1
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.045]] # 0.03   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [
+                      ["rotate", 0.5],
+                      ["rotate", 0.3],
+                      ["rotate", 0.2],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                    ] # ["translate_z", 0.08],
+
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0
+                      x_max: 0
+                      y_min: 0
+                      y_max: 0
+                      z_min: 0
+                      z_max: 0
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/close_the_oven/right/close_the_oven_part1.yaml

@@ -0,0 +1,180 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        # right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: close_h_down_right
+        target_class: ArticulatedObject
+        dataset: grutopia
+        info_name: "close_h_down"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.30, 0.30]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/oven"
+
+    regions:
+      -
+        object: close_h_down_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.05, 0.005],
+            [0.25, 0.15, 0.005]
+          ]
+          yaw_rotation: [-10, 10]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "close_the_oven_part1"
+      language_instruction: "Close the oven with right arm."
+      detailed_language_instruction: "Close the oven door with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: close
+                objects: [close_h_down_right]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.03
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.001 # 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis_from_keypoint_name: articulated_object_head
+                      target_axis_to_keypoint_name: articulated_object_tail
+                      target_axis_frame: object
+                      tolerance: 0.05
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object # cross_target_axis2_frame
+                      tolerance: 0.5 # 0.05
+                      target_inner_product: 1
+                      type: frame_axis_parallel # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.045]] # 0.03   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [
+                      ["rotate", 0.5],
+                      ["rotate", 0.3],
+                      ["rotate", 0.2],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                      ["rotate", 0.1],
+                    ] # ["translate_z", 0.08],
+
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0
+                      x_max: 0
+                      y_min: 0
+                      y_max: 0
+                      z_min: 0
+                      z_max: 0
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: -0.03
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/left/grasp_the_microwave_handle_part0.yaml

@@ -0,0 +1,174 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        # right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_handle_left
+        target_class: ArticulatedObject
+        dataset: grutopia
+        info_name: "open_v_handle"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.05, 0.05]
+        apply_randomization: False
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/handle_objs/open_v_handle/microwave"
+
+    regions:
+      -
+        object: open_v_handle_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.05, 0.005],
+            [0.05, 0.15, 0.005]
+          ]
+          yaw_rotation: [-10, 10]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "grasp_the_microwave_handl_part0"
+      language_instruction: "Grasp the microwave handle and open it with left arm."
+      detailed_language_instruction: "Grab the handle of the microwave door and swing it open horizontally with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_handle_left]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  success_mode: abs
+                  # update_art_joint: True
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis_from_keypoint_name: articulated_object_head
+                      target_axis_to_keypoint_name: articulated_object_tail
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.6
+                      target_inner_product: 1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.03]]
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/grasp_the_microwave_handle/right/grasp_the_microwave_handle_part1.yaml

@@ -0,0 +1,174 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        # right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_handle_right
+        target_class: ArticulatedObject
+        dataset: grutopia
+        info_name: "open_v_handle"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.05, 0.05]
+        apply_randomization: False
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/handle_objs/open_v_handle/microwave"
+
+    regions:
+      -
+        object: open_v_handle_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.05, 0.005],
+            [0.25, 0.15, 0.005]
+          ]
+          yaw_rotation: [-10, 10]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "grasp_the_microwave_handl_part1"
+      language_instruction: "Grasp the microwave handle and open it with right arm."
+      detailed_language_instruction: "Grab the handle of the microwave door and swing it open horizontally with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [open_v_handle_right]
+                collision_valid: False
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  success_mode: abs
+                  # update_art_joint: True
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis_from_keypoint_name: articulated_object_head
+                      target_axis_to_keypoint_name: articulated_object_tail
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.6
+                      target_inner_product: 1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.03]]
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/left/open_the_microwave_part0.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_left
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.38, 0.38]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/microwave_gr"
+
+    regions:
+      -
+        object: open_v_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.30, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-20, 20]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.86, -0.765],
+            [0.0, -0.86, -0.765]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "open_the_microwave_part0"
+      language_instruction: "Open the microwave with left arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: open
+                objects: [open_v_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: 1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave/right/open_the_microwave_part1.yaml

@@ -0,0 +1,168 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_v_right
+        target_class: ArticulatedObject
+        dataset: pm
+        info_name: "open_v"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [0.38, 0.38]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/microwave_gr"
+
+    regions:
+      -
+        object: open_v_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.30, 0.15, 0.0]
+          ]
+          yaw_rotation: [-20, 20]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.86, -0.765],
+            [0.0, -0.86, -0.765]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "open_the_microwave_part1"
+      language_instruction: "Open the microwave with right arm."
+      detailed_language_instruction: "Grab the upper part of the microwave door and swing it open with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [open_v_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.52
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.2], ["rotate", -0.1], ["rotate", -0.1],["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/open_the_microwave_from_scratch/open_the_microwave_from_scratch.yaml

@@ -0,0 +1,243 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        # left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        # right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        # constrain_grasp_approach: True
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: microwave
+        target_class: ArticulatedObject
+        dataset: oo3d
+        joint_position_range: [0.2, 0.2]
+        info_name: "open_v_handle"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.007926725892163465,
+                0.007926725892163465,
+                0.007926725892163465,]
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: art/open_the_microwave_from_scratch/microwave
+
+    regions:
+      -
+        object: microwave
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.10, 0.15, 0.05],
+            [0.05, 0.25, 0.05]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.86, -0.765],
+            [0.0, -0.86, -0.765]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "open_the_microwave_from_scratch"
+      language_instruction: "Open the microwave."
+      detailed_language_instruction: "Open the microwave."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 4000
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [microwave]
+                collision_valid: False
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+                  update_art_joint: True
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.2
+                  success_mode: "abs"
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis_from_keypoint_name: articulated_object_head
+                      target_axis_to_keypoint_name: articulated_object_tail
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.5
+                      target_inner_product: 0.7
+                      type: frame_axis_parallel
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  pre_actuation_motions: [["translate_z", -0.07]]
+                  post_actuation_motions: [["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+              -
+                name: gripper__action
+                gripper_state: 1 # Open
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+
+              -
+                name: open
+                objects: [microwave]
+                obj_info_path: art/open_the_microwave_from_scratch/microwave/microwave_0013/Kps/open_v_inner/info.json
+                collision_valid: False
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+                  success_mode: "abs"
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.3
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.0005
+                      target_inner_product: -0.7
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: hand_parallel_to_link0_edge_door
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -0.7
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  pre_actuation_motions: [["rotate", 0.15]] #[["translate_y", 0.05]]
+                  post_actuation_motions: [["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.1], ["rotate", -0.1], ["rotate", -0.05], ["rotate", -0.05], ["rotate", -0.05], ["rotate", -0.05], ["rotate", -0.05]]
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.03
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.03
+              -
+                name: gripper__action
+                gripper_state: 1 # Open
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper

workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/left/open_the_oven_part0.yaml

@@ -0,0 +1,178 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        # right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_h_handle_down_left
+        target_class: ArticulatedObject
+        dataset: grutopia
+        info_name: "open_h_down_handle"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [-0.05, -0.05]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/oven"
+
+    regions:
+      -
+        object: open_h_handle_down_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.25, 0.05, 0.005],
+            [0.05, 0.15, 0.005]
+          ]
+          yaw_rotation: [-10, 10]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "open_the_oven_part0"
+      language_instruction: "Open the oven with left arm."
+      detailed_language_instruction: "Grab the handle of the oven door and swing it open by 30 degrees with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: open
+                objects: [open_h_handle_down_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.2
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+                    # - axis_from_keypoint_name: tool_head
+                    #   axis_to_keypoint_name: tool_side
+                    #   target_axis_from_keypoint_name: articulated_object_head
+                    #   target_axis_to_keypoint_name: articulated_object_tail
+                    #   target_axis_frame: object
+                    #   tolerance: 0.0005
+                    #   target_inner_product: -1
+                    #   type: frame_axis_parallel
+                    #   name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.03]]
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/open_the_oven/right/open_the_oven_part1.yaml

@@ -0,0 +1,178 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        # left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        # left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        # right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: open_h_handle_down_right
+        target_class: ArticulatedObject
+        dataset: grutopia
+        info_name: "open_h_down_handle"
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        joint_position_range: [-0.05, -0.05]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        art_cat: "art/oven"
+
+    regions:
+      -
+        object: open_h_handle_down_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.05, 0.005],
+            [0.25, 0.15, 0.005]
+          ]
+          yaw_rotation: [-10, 10]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "open_the_oven_part1"
+      language_instruction: "Open the oven with right arm."
+      detailed_language_instruction: "Grab the handle of the oven door and swing it open by 30 degrees with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [open_h_handle_down_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.2
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: articulated_object_head
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+                    # - axis_from_keypoint_name: tool_head
+                    #   axis_to_keypoint_name: tool_side
+                    #   target_axis_from_keypoint_name: articulated_object_head
+                    #   target_axis_to_keypoint_name: articulated_object_tail
+                    #   target_axis_frame: object
+                    #   tolerance: 0.0005
+                    #   target_inner_product: -1
+                    #   type: frame_axis_parallel
+                    #   name: hand_parallel_to_axis_computed_by_keypoints
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      cross_target_axis1_from_keypoint_name: articulated_object_head
+                      cross_target_axis1_to_keypoint_name: articulated_object_tail
+                      target_axis: link0_contact_axis
+                      target_axis_frame: object    # cross_target_axis2_frame
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel  # enforce parallelism via cross product constraint
+                      name: fingers_orthogonal_to_link0
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.03]]
+                  # post-actuation pose list
+                  post_actuation_motions: [["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.15], ["rotate", -0.1], ["rotate", -0.1]]
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: 0.0
+                      y_max: 0.0
+                      z_min: 0.0
+                      z_max: 0.0

workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_bottom.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_bottom"
+
+    regions:
+      -
+        object: pull_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.8],
+            [0.025, -0.86, -0.70]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "pull_the_storagefurniture_left_arm_bottom"
+      language_instruction: "Pull the storagefurniture with left arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: open
+                objects: [pull_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -5.0
+                      y_max: 5.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.01
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_middle.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_middle"
+
+    regions:
+      -
+        object: pull_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.7],
+            [0.025, -0.86, -0.60]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "pull_the_storagefurniture_left_arm_middle"
+      language_instruction: "Pull the storagefurniture with left arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: open
+                objects: [pull_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -5.0
+                      y_max: 5.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.01
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/left/pull_the_storagefurniture_left_arm_top.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_top"
+
+    regions:
+      -
+        object: pull_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, 0.0, 0.0],
+            [0.05, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.6],
+            [0.025, -0.86, -0.50]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "pull_the_storagefurniture_left_arm_top"
+      language_instruction: "Pull the storagefurniture with left arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: open
+                objects: [pull_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -5.0
+                      y_max: 5.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.01
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_bottom.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_bottom"
+
+    regions:
+      -
+        object: pull_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.35, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.8],
+            [0.025, -0.86, -0.70]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "pull_the_storagefurniture_right_arm_bottom"
+      language_instruction: "Pull the storagefurniture with right arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [pull_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -5.0
+                      y_max: 5.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.01
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_middle.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_middle"
+
+    regions:
+      -
+        object: pull_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.35, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.7],
+            [0.025, -0.86, -0.60]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "pull_the_storagefurniture_right_arm_middle"
+      language_instruction: "Pull the storagefurniture with right arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [pull_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -5.0
+                      y_max: 5.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.01
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/split_aloha/pull_the_storagefurniture/right/pull_the_storagefurniture_right_arm_top.yaml

@@ -0,0 +1,166 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: pull_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.09, 0.12]
+        info_name: "pull"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_top"
+
+    regions:
+      -
+        object: pull_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.0, 0.0],
+            [0.35, 0.15, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.6],
+            [0.025, -0.86, -0.50]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "pull_the_storagefurniture_right_arm_top"
+      language_instruction: "Pull the storagefurniture with right arm."
+      detailed_language_instruction: "Pull and open the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: open
+                objects: [pull_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: OpenBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.07
+                  constraint_list:
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_tail
+                      target_axis: object_link0_vertical_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: []
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.04], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05], ["translate_x", -0.05]]
+
+                  keypose_random_range:
+                    orientation:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -5.0
+                      y_max: 5.0
+                      z_min: -5.0
+                      z_max: 5.0
+                    position:
+                      x_min: 0.0
+                      x_max: 0.0
+                      y_min: -0.03
+                      y_max: 0.03
+                      z_min: -0.01
+                      z_max: -0.01

workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_bottom.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.20]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_bottom"
+
+    regions:
+      -
+        object: push_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.025, 0.0],
+            [0.05, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "push_the_storagefurniture_left_arm_bottom"
+      language_instruction: "Push the storagefurniture with left arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: close
+                objects: [push_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.15],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -5
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: -0.005
+                      y_max: 0.005
+                      z_min: -0.02
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_middle.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.20]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_middle"
+
+    regions:
+      -
+        object: push_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.025, 0.0],
+            [0.05, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.8],
+            [0.025, -0.86, -0.70]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "push_the_storagefurniture_left_arm_middle"
+      language_instruction: "Push the storagefurniture with left arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: close
+                objects: [push_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.15],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -5
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: -0.005
+                      y_max: 0.005
+                      z_min: -0.02
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/left/push_the_storagefurniture_left_arm_top.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_left
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.20]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_top"
+
+    regions:
+      -
+        object: push_art_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.025, 0.0],
+            [0.05, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.7],
+            [0.025, -0.86, -0.60]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "push_the_storagefurniture_left_arm_top"
+      language_instruction: "Push the storagefurniture with left arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            left:
+              -
+                name: close
+                objects: [push_art_left]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.15],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -5
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: -0.005
+                      y_max: 0.005
+                      z_min: -0.02
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_bottom.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.20]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_bottom"
+
+    regions:
+      -
+        object: push_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.025, 0.0],
+            [0.35, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.9],
+            [0.025, -0.86, -0.80]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "push_the_storagefurniture_right_arm_bottom"
+      language_instruction: "Push the storagefurniture with right arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: close
+                objects: [push_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.15],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -5
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: -0.005
+                      y_max: 0.005
+                      z_min: -0.02
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_middle.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.20]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_middle"
+
+    regions:
+      -
+        object: push_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.025, 0.0],
+            [0.35, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.8],
+            [0.025, -0.86, -0.70]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "push_the_storagefurniture_right_arm_middle"
+      language_instruction: "Push the storagefurniture with right arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: close
+                objects: [push_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.15],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -5
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: -0.005
+                      y_max: 0.005
+                      z_min: -0.02
+                      z_max: 0

workflows/simbox/core/configs/tasks/art/split_aloha/push_the_storagefurniture/right/push_the_storagefurniture_right_arm_top.yaml

@@ -0,0 +1,169 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "split_aloha"
+        robot_config_file: workflows/simbox/core/configs/robots/split_aloha.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        right_joint_home: [0.00484993, 0.34198609, -0.14007858, 0.01680429, 0.14391101, -0.00252178]
+        left_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        right_joint_home_std: [0.12513939, 0.24539099, 0.24468172, 0.23398885, 0.2710117, 0.21726329]
+        ignore_substring: ["material"]
+
+    objects:
+      -
+        name: push_art_right
+        target_class: ArticulatedObject
+        dataset: pm
+        joint_position_range: [0.10, 0.20]
+        info_name: "push"
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        path: ""
+        category: ""
+        obj_info_path: ""
+        fix_base: True
+        art_cat: "art/storagefurniture_top"
+
+    regions:
+      -
+        object: push_art_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.025, 0.0],
+            [0.35, 0.125, 0.0]
+          ]
+          yaw_rotation: [-30, 30]
+      -
+        object: split_aloha
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.86, -0.7],
+            [0.025, -0.86, -0.60]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: split_aloha_hand_left
+        translation: [0.0, 0.08, 0.05]
+        orientation: [0.0, 0.0, 0.965, 0.259]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fl/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_hand_right
+        translation: [0.0, 0.08, 0.04]
+        orientation: [0.0, 0.0, 0.972, 0.233]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/astra.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/fr/link6"  # todo
+        apply_randomization: False
+      -
+        name: split_aloha_head
+        translation: [0.0, -0.00818, 0.1]
+        orientation: [0.658, 0.259, -0.282, -0.648]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "split_aloha/split_aloha_mid_360_with_piper/split_aloha_mid_360_with_piper/top_camera_link"  # todo: robot base frame
+
+    data:
+      task_dir: "push_the_storagefurniture_right_arm_top"
+      language_instruction: "Push the storagefurniture with right arm."
+      detailed_language_instruction: "Push and close the storagefurniture with the right robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480"
+      update: True
+      max_episode_length: 600
+
+    skills:
+      -
+        split_aloha:
+          -
+            right:
+              -
+                name: close
+                objects: [push_art_right]
+                # debug start: KPAMPlanner
+                planner_setting:
+                  task_name: CloseBox
+                  category_name: Articulated
+
+                  tool_keypoint_name_list: [tool_head, tool_tail, tool_side]
+                  object_keypoint_name_list: [articulated_object_head, articulated_object_tail]
+                  success_threshold: 0.01
+                  constraint_list:
+                    # ensure the gripper to be in contact with the box lid with whole fingers
+                    - keypoint_name: tool_head
+                      target_keypoint_name: link_contact_point
+                      tolerance: 0.000001
+                      type: point2point_constraint
+                      name: fingers_contact_with_link0
+
+                    # ensure surface of the gripper to be parallel to the box lid
+                    - axis_from_keypoint_name: tool_head
+                      axis_to_keypoint_name: tool_side
+                      target_axis: object_link0_contact_axis
+                      target_axis_frame: object
+                      tolerance: 0.0005
+                      target_inner_product: -1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_edge
+
+                    - axis_from_keypoint_name: tool_tail
+                      axis_to_keypoint_name: tool_head
+                      target_axis: object_link0_move_axis
+                      target_axis_frame: object
+                      tolerance: 0.3
+                      target_inner_product: 1
+                      type: frame_axis_parallel
+                      name: hand_parallel_to_link0_move_axis
+
+                  contact_pose_index: 2
+                  # pre-actuation pose list.
+                  pre_actuation_motions: [["translate_z", -0.05]] #   ["translate_z", -0.0001] , ["translate_x", -0.01],
+                  # post-actuation pose list
+                  post_actuation_motions: [["translate_z", 0.15],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05],["translate_z", 0.05]] # ["translate_z", 0.08],
+
+                  # in link8 frame, in degree, in metre
+                  keypose_random_range:
+                    orientation:  # rotation around each axis (degrees)
+                      x_min: -3
+                      x_max: 3
+                      y_min: -5
+                      y_max: 5
+                      z_min: -45
+                      z_max: 45
+                    position:
+                      x_min: -0.03
+                      x_max: 0.03
+                      y_min: -0.005
+                      y_max: 0.005
+                      z_min: -0.02
+                      z_max: 0

workflows/simbox/core/configs/tasks/basic/franka/track/track_the_targets.yaml

@@ -0,0 +1,102 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    # arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    arena_file: workflows/simbox/core/configs/arenas/pick_clean_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [5000, 5500]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "franka"
+        robot_config_file: workflows/simbox/core/configs/robots/fr3.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.0, -0.143, 0.0, -2.435, 0.0,  2.235, 0.789]
+        left_joint_home_std: [0.0157, 0.0263, 0.0209, 0.0247, 0.0187, 0.0243, 0.0281]
+        constrain_grasp_approach: True
+
+    objects:
+      []
+
+    regions:
+      -
+        object: franka
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.495, 0.0],
+            [0.0, -0.445, 0.05]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: franka_hand
+        translation: [0.085, 0.0, -0.02]
+        orientation: [0.153, 0.690, 0.690, 0.153]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d435i.yaml
+        parent: "franka/fr3/panda_hand"
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+      -
+        name: franka_head
+        translation: [0.0, 0.65, 1.24]
+        orientation: [0.000, 0.000, -0.466, -0.885]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: ""  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.06
+        max_orientation_noise: 10.0
+
+    data:
+      task_dir: "track_the_targets"
+      language_instruction: "Use the grippers to track the targets over the table."
+      detailed_language_instruction: "Move the franka arm to track the target over the table. Keep tracking until the target disappears."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 1200
+
+    skills:
+      -
+        franka:
+          -
+            left:
+              -
+                name: track
+                target: target_left
+                ignore_substring: ["visual"]
+                T_tcp_2_ee:
+                  [
+                    [1, 0, 0, 0],
+                    [0, 1, 0, 0],
+                    [0, 0, 1, 0.1],
+                    [0, 0, 0, 1],
+                  ]
+                # Frame orientation is aligned with base; origin is at table center; waypoints control gripper flange pose
+                way_points_num: 3
+                way_points_trans:
+                  # min: [-0.312, -0.106, 0.174]
+                  # max: [-0.042, 0.526, 0.594]
+                  min: [-0.202, -0.376, 0.134]
+                  max: [ 0.302, 0.376, 0.264]
+                way_points_ori:
+                  [0., 1., 0., 0.]
+                max_noise_deg: 180

workflows/simbox/core/configs/tasks/basic/genie1/store_the_eggs/lr/098_egg_placer_000_orange.yaml

@@ -0,0 +1,216 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_clean_arena.yaml
+
+    neglect_collision_names: ["table"]
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "genie1"
+        robot_config_file: workflows/simbox/core/configs/robots/genie1.yaml
+        euler: [0.0, 0.0, 90.0]
+        # constrain_grasp_approach: True
+        ignore_substring: ["material", "table"]
+        use_batch: True
+        collision_activation_distance: 0.05
+        tcp_offset: 0.20
+
+    objects:
+      -
+        name: pick_object_left
+        path: basic/store_the_eggs/omniobject3d-egg_p/omniobject3d-egg_098/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: omniobject3d-egg_p
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: False
+        optimize_2d_layout: True
+      -
+        name: pick_object_right
+        path: basic/store_the_eggs/omniobject3d-egg_p/omniobject3d-egg_098/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: omniobject3d-egg_p
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 0.0]
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: False
+        optimize_2d_layout: True
+
+      -
+        name: gso_box
+        path: basic/store_the_eggs/egg_placer3/098_egg_placer_000_orange/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: gso
+        category: box
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 0.0]
+        scale: [1.2, 1.2, 1.2]
+        apply_randomization: False
+
+    regions:
+      -
+        object: pick_object_left
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.15, -0.18, 0.0],
+            [0.15, -0.06, 0.0]
+          ]
+          yaw_rotation: [0.0, 0.0]
+      -
+        object: pick_object_right
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.15, -0.18, 0.0],
+            [0.15, -0.06, 0.0]
+          ]
+          yaw_rotation: [0.0, 0.0]
+      -
+        object: gso_box
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, 0.14, 0.01],
+            [0.05, 0.18, 0.01]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.81, -0.85],
+            [0.025, -0.81, -0.73]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand_left
+        translation: [-0.01, -0.07, 0.08]
+        orientation: [0.191, 0.981, 0.003, 0.017]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml
+
+        parent: "${tasks.0.robots.0.name}/gripper_l_base_link"  # todo
+        apply_randomization: False
+      -
+        name: ${tasks.0.robots.0.name}_hand_right
+        translation: [0.015, 0.094, 0.07]
+        orientation: [0.0, 0.0, 0.974, 0.225]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405_v2.yaml
+        parent: "${tasks.0.robots.0.name}/gripper_r_base_link"
+        apply_randomization: False
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.05, -0.05, -0.0]
+        orientation: [0.0, 0.697, 0.0128, -0.717]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "${tasks.0.robots.0.name}/head_link2"
+
+    data:
+      task_dir: "store_the_eggs/lr/098_egg_placer_000_orange"
+      language_instruction: "Pick up the eggs with the left arm and right arm then place it in the egg carton."
+      detailed_language_instruction: "Pick up the eggs with the left robotic arm and right robotic arm then place it in the egg carton."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 800
+
+    skills:
+      -
+        genie1:
+          -
+            left:
+              -
+                name: pick
+                objects: [pick_object_left]
+                filter_x_dir: ["backward", 135]
+                filter_y_dir: ["downward", 120]
+                filter_z_dir: ["forward", 135, 45]
+                pre_grasp_offset: 0.08
+                gripper_change_steps: 20
+                process_valid: True
+                lift_th: 0.0
+                post_grasp_offset_min: 0.0
+                post_grasp_offset_max: 0.0
+                return_to_pregrasp: True
+
+              -
+                name: place
+                objects: [pick_object_left, gso_box]
+                position_constraint: object
+                filter_x_dir: ["backward", 110]
+                filter_y_dir: ["downward", 120]
+                filter_z_dir: ["forward", 70]
+                x_ratio_range: [0.48, 0.52]
+                y_ratio_range: [0.2, 0.3]
+                success_mode: xybbox
+                pre_place_z_offset: 0.03
+                place_z_offset: 0.03
+                gripper_change_steps: 20
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+          -
+            right:
+              -
+                name: pick
+                objects: [pick_object_right]
+                filter_x_dir: ["forward", 45]
+                filter_y_dir: ["downward", 120]
+                filter_z_dir: ["forward", 135, 45]
+                pre_grasp_offset: 0.08
+                gripper_change_steps: 20
+                process_valid: True
+                lift_th: 0.0
+                post_grasp_offset_min: 0.0
+                post_grasp_offset_max: 0.0
+                return_to_pregrasp: True
+              -
+                name: place
+                objects: [pick_object_right, gso_box]
+                position_constraint: object
+                filter_x_dir: ["forward", 70]
+                filter_y_dir: ["downward", 120]
+                filter_z_dir: ["forward", 70]
+                x_ratio_range: [0.75, 0.85]
+                y_ratio_range: [0.15, 0.35]
+                success_mode: xybbox
+                pre_place_z_offset: 0.03
+                place_z_offset: 0.03
+                gripper_change_steps: 20
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper

workflows/simbox/core/configs/tasks/basic/lift2/arrange_the_tableware/arrange_the_tableware_part0.yaml

@@ -0,0 +1,290 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    neglect_collision_names: ["tray"]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        ignore_substring: ["material", "table", "tray"]
+    objects:
+      -
+        name: plate
+        path: basic/arrange_the_tableware/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]
+        # translation: [0.0, -0.25, 0.76]
+        # euler: [90.0, 0.0, 0.0]
+        scale: [1.0, 1.0, 1.0]
+      -
+        name: plate_shelf
+        path: basic/arrange_the_tableware/plate_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, -0.0, 0.0]
+        euler: [90.0, 0.0, 90.0]
+        scale: [1.0, 1.0, 1.0]
+      -
+        name: tray_0
+        path: basic/arrange_the_tableware/tray/tray_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]
+        scale: [1.6, 1.0, 1.3]
+        filter_collision: True
+      -
+        name: tray_1
+        path: basic/arrange_the_tableware/tray/tray_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]
+        scale: [1.6, 1.0, 1.3]
+        filter_collision: True
+      -
+        name: fork
+        path: basic/arrange_the_tableware/fork/fork_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, -90.0, 0.0]
+        scale: [1.0, 1.0, 1.0]
+      -
+        name: spoon
+        path: basic/arrange_the_tableware/spoon/spoon_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, -90.0, 0.0]
+        scale: [1.0, 1.0, 1.0]
+
+    regions:
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.75, -0.67],
+            [0.025, -0.75, -0.67]
+          ]
+          yaw_rotation: [-0.0, 0.0]
+      -
+        object: tray_1
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.35, -0.25, 0.005],
+            [0.40, -0.15, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: tray_0
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, -0.25, 0.005],
+            [-0.35, -0.15, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+
+      -
+        object: plate_shelf
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.05, 0.005],
+            [0.05, 0.05, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: fork
+        target: tray_0
+        random_type: A_in_B_region_sampler
+        random_config:
+          x_bias: 0.0
+      -
+        object: spoon
+        target: tray_1
+        random_type: A_in_B_region_sampler
+        random_config:
+          x_bias: 0.0
+      -
+        object: plate
+        target: plate_shelf
+        random_type: A_in_B_region_sampler
+        random_config:
+          z_bias: -0.04
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: ${tasks.0.robots.0.name}_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+
+    data:
+      task_dir: "arrange_the_tableware_part0"
+      language_instruction: "Setup the table."
+      detailed_language_instruction: "Pick up the plate from the shelf with right arm, then pick up the spoon from the tray with right arm and pick up the fork from the tray with left arm meanwhile, finally place the spoon on the right side of the plate and the fork on the left side of the plate."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 1300
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: pick
+                objects: [plate]
+                filter_z_dir: ["forward", 80]
+                filter_x_dir: ["downward", 130]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                ignore_substring: ["plate_shelf"]
+                post_grasp_offset_min: 0.075
+                post_grasp_offset_max: 0.125
+              -
+                name: place
+                objects: [plate, table]
+                place_direction: vertical
+                filter_z_dir: ["forward", 10]
+                filter_y_dir: ["upward", 60, 30]
+                filter_x_dir: ["downward", 120, 150]
+                position_constraint: object
+                x_ratio_range: [0.5, 0.5]
+                y_ratio_range: [0.12, 0.20]
+                pre_place_z_offset: 0.15
+                place_z_offset: 0.1
+                post_place_vector: [-0.05, 0.0, 0.0]
+                success_mode: xybbox
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+          -
+            left:
+              -
+                name: pick
+                objects: [fork]
+                filter_z_dir: ["forward", 80]
+                filter_x_dir: ["downward", 130]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                # ignore_substring: ["tray_0"]
+                post_grasp_offset_min: 0.125
+                post_grasp_offset_max: 0.175
+              -
+                name: place
+                objects: [fork, plate]
+                place_direction: vertical
+                filter_z_dir: ["forward", 20]
+                filter_x_dir: ["downward", 150]
+                x_ratio_range: [-0.25, -0.15]
+                y_ratio_range: [0.30, 0.70]
+                pre_place_z_offset: 0.175
+                place_z_offset: 0.125
+                success_mode: left
+                threshold: 0.01
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+            right:
+              -
+                name: pick
+                objects: [spoon]
+                filter_z_dir: ["forward", 80]
+                filter_x_dir: ["downward", 130]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                # ignore_substring: ["tray_1"]
+                post_grasp_offset_min: 0.125
+                post_grasp_offset_max: 0.175
+              -
+                name: place
+                objects: [spoon, plate]
+                place_direction: vertical
+                filter_z_dir: ["forward", 20]
+                filter_x_dir: ["downward", 150]
+                x_ratio_range: [1.15, 1.25]
+                y_ratio_range: [0.30, 0.70]
+                pre_place_z_offset: 0.175
+                place_z_offset: 0.125
+                success_mode: right
+                threshold: 0.01
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper

workflows/simbox/core/configs/tasks/basic/lift2/arrange_the_tableware/arrange_the_tableware_part1.yaml

@@ -0,0 +1,290 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    neglect_collision_names: ["tray"]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        right_joint_home: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        left_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        right_joint_home_std: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+        ignore_substring: ["material", "table", "tray"]
+    objects:
+      -
+        name: plate
+        path: basic/arrange_the_tableware/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]
+        # translation: [0.0, -0.25, 0.76]
+        # euler: [90.0, 0.0, 0.0]
+        scale: [1.0, 1.0, 1.0]
+      -
+        name: plate_shelf
+        path: basic/arrange_the_tableware/plate_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, -0.0, 0.0]
+        euler: [90.0, 0.0, 90.0]
+        scale: [1.0, 1.0, 1.0]
+      -
+        name: tray_0
+        path: basic/arrange_the_tableware/tray/tray_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]
+        scale: [1.6, 1.0, 1.3]
+        filter_collision: True
+      -
+        name: tray_1
+        path: basic/arrange_the_tableware/tray/tray_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]
+        scale: [1.6, 1.0, 1.3]
+        filter_collision: True
+      -
+        name: fork
+        path: basic/arrange_the_tableware/fork/fork_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, -90.0, 0.0]
+        scale: [1.0, 1.0, 1.0]
+      -
+        name: spoon
+        path: basic/arrange_the_tableware/spoon/spoon_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: arcode
+        category: plate
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, -90.0, 0.0]
+        scale: [1.0, 1.0, 1.0]
+
+    regions:
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.025, -0.75, -0.67],
+            [0.025, -0.75, -0.67]
+          ]
+          yaw_rotation: [-0.0, 0.0]
+      -
+        object: tray_1
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.35, -0.25, 0.005],
+            [0.40, -0.15, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: tray_0
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.40, -0.25, 0.005],
+            [-0.35, -0.15, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+
+      -
+        object: plate_shelf
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.05, 0.005],
+            [0.05, 0.05, 0.005]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: spoon
+        target: tray_0
+        random_type: A_in_B_region_sampler
+        random_config:
+          x_bias: 0.0
+      -
+        object: fork
+        target: tray_1
+        random_type: A_in_B_region_sampler
+        random_config:
+          x_bias: 0.0
+      -
+        object: plate
+        target: plate_shelf
+        random_type: A_in_B_region_sampler
+        random_config:
+          z_bias: -0.04
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: ${tasks.0.robots.0.name}_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+
+    data:
+      task_dir: "arrange_the_tableware_part1"
+      language_instruction: "Setup the table."
+      detailed_language_instruction: "Pick up the plate from the shelf with right arm, then pick up the fork from the tray with right arm and pick up the spoon from the tray with left arm meanwhile, finally place the fork on the right side of the plate and the spoon on the left side of the plate."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 1300
+
+    skills:
+      -
+        lift2:
+          -
+            right:
+              -
+                name: pick
+                objects: [plate]
+                filter_z_dir: ["forward", 80]
+                filter_x_dir: ["downward", 130]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                ignore_substring: ["plate_shelf"]
+                post_grasp_offset_min: 0.075
+                post_grasp_offset_max: 0.125
+              -
+                name: place
+                objects: [plate, table]
+                place_direction: vertical
+                filter_z_dir: ["forward", 10]
+                filter_y_dir: ["upward", 60, 30]
+                filter_x_dir: ["downward", 120, 150]
+                position_constraint: object
+                x_ratio_range: [0.5, 0.5]
+                y_ratio_range: [0.12, 0.20]
+                pre_place_z_offset: 0.15
+                place_z_offset: 0.1
+                post_place_vector: [-0.05, 0.0, 0.0]
+                success_mode: xybbox
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+          -
+            left:
+              -
+                name: pick
+                objects: [spoon]
+                filter_z_dir: ["forward", 80]
+                filter_x_dir: ["downward", 130]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                # ignore_substring: ["tray_0"]
+                post_grasp_offset_min: 0.125
+                post_grasp_offset_max: 0.175
+              -
+                name: place
+                objects: [spoon, plate]
+                place_direction: vertical
+                filter_z_dir: ["forward", 20]
+                filter_x_dir: ["downward", 150]
+                x_ratio_range: [-0.25, -0.15]
+                y_ratio_range: [0.30, 0.70]
+                pre_place_z_offset: 0.175
+                place_z_offset: 0.125
+                success_mode: left
+                threshold: 0.01
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper
+            right:
+              -
+                name: pick
+                objects: [fork]
+                filter_z_dir: ["forward", 80]
+                filter_x_dir: ["downward", 130]
+                pre_grasp_offset: 0.05
+                gripper_change_steps: 10
+                # ignore_substring: ["tray_1"]
+                post_grasp_offset_min: 0.125
+                post_grasp_offset_max: 0.175
+              -
+                name: place
+                objects: [fork, plate]
+                place_direction: vertical
+                filter_z_dir: ["forward", 20]
+                filter_x_dir: ["downward", 150]
+                x_ratio_range: [1.15, 1.25]
+                y_ratio_range: [0.30, 0.70]
+                pre_place_z_offset: 0.175
+                place_z_offset: 0.125
+                success_mode: right
+                threshold: 0.01
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: 1.0 # Open gripper

workflows/simbox/core/configs/tasks/basic/lift2/conveyor_beef_sandwich/conveyor_beef_sandwich.yaml

@@ -0,0 +1,909 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/conveyor_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: False
+      intensity_range: [2500, 5000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        ignore_substring: ["material", "Plane", "conveyor", "shelf", "bowl", "plate"]
+
+    neglect_collision_names: ["shelf", "bowl", "plate"]
+
+    objects:
+      ### priority food
+      -
+        name: bread_0
+        path: long_horizon/conveyor_food/bread/bread_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]  # stable init pose
+        scale: [1, 1, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_shelf_0
+        path: long_horizon/conveyor_food/bread_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.125, 0.2]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_0
+        path: long_horizon/conveyor_food/lettuce/lettuce_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, -90.0]  # stable init pose
+        scale: [1, 1.2, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_bowl_0
+        path: long_horizon/conveyor_food/lettuce_bowl/bowl_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      ### distractor food
+      -
+        name: bread_1
+        path: long_horizon/conveyor_food/bread/bread_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]  # stable init pose
+        scale: [1, 1, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_shelf_1
+        path: long_horizon/conveyor_food/bread_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.125, 0.2]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_1
+        path: long_horizon/conveyor_food/lettuce/lettuce_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, -90.0]  # stable init pose
+        scale: [1, 1.2, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_bowl_1
+        path: long_horizon/conveyor_food/lettuce_bowl/bowl_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_2
+        path: long_horizon/conveyor_food/bread/bread_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]  # stable init pose
+        scale: [1, 1, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_shelf_2
+        path: long_horizon/conveyor_food/bread_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.125, 0.2]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_2
+        path: long_horizon/conveyor_food/lettuce/lettuce_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, -90.0]  # stable init pose
+        scale: [1, 1.2, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_bowl_2
+        path: long_horizon/conveyor_food/lettuce_bowl/bowl_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_0
+        path: long_horizon/conveyor_food/beef/beef_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_0
+        path: long_horizon/conveyor_food/beef_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_1
+        path: long_horizon/conveyor_food/beef/beef_1/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_1
+        path: long_horizon/conveyor_food/beef_shelf/shelf_1/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_2
+        path: long_horizon/conveyor_food/beef/beef_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_2
+        path: long_horizon/conveyor_food/beef_shelf/shelf_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_3
+        path: long_horizon/conveyor_food/beef/beef_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_3
+        path: long_horizon/conveyor_food/beef_shelf/shelf_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_0
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_0
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_1
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_1
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_2
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_2
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_3
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_3
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      # -
+      #   name: distractor_4
+      #   path: long_horizon/conveyor_bg_objorange/omniobject3d-orange_001/Aligned_obj.usd
+      #   target_class: RigidObject
+      #   dataset: oo3d
+      #   category: bottle
+      #   prim_path_child: Aligned
+      #   translation: [0.0, 0.0, 0.0]
+      #   euler: [90.0, 0.0, 0.0]  # stable init pose
+      #   scale: [0.001, 0.001, 0.001]
+      #   apply_randomization: True
+      #   orientation_mode: keep
+      #   gap: False
+      -
+        name: plate_4
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      # -
+      #   name: distractor_5
+      #   path: long_horizon/conveyor_bg_objpear/omniobject3d-pear_007/Aligned_obj.usd
+      #   target_class: RigidObject
+      #   dataset: oo3d
+      #   category: bottle
+      #   prim_path_child: Aligned
+      #   translation: [0.0, 0.0, 0.0]
+      #   euler: [90.0, 0.0, 0.0]  # stable init pose
+      #   scale: [0.001, 0.001, 0.001]
+      #   apply_randomization: True
+      #   orientation_mode: keep
+      #   gap: False
+      -
+        name: plate_5
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      # -
+      #   name: distractor_6
+      #   path: long_horizon/conveyor_bg_objorange/omniobject3d-orange_001/Aligned_obj.usd
+      #   target_class: RigidObject
+      #   dataset: oo3d
+      #   category: bottle
+      #   prim_path_child: Aligned
+      #   translation: [0.0, 0.0, 0.0]
+      #   euler: [90.0, 0.0, 0.0]  # stable init pose
+      #   scale: [0.001, 0.001, 0.001]
+      #   apply_randomization: True
+      #   orientation_mode: keep
+      #   gap: False
+      -
+        name: plate_6
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      # -
+      #   name: distractor_7
+      #   path: long_horizon/conveyor_bg_objorange/omniobject3d-orange_001/Aligned_obj.usd
+      #   target_class: RigidObject
+      #   dataset: oo3d
+      #   category: bottle
+      #   prim_path_child: Aligned
+      #   translation: [0.0, 0.0, 0.0]
+      #   euler: [90.0, 0.0, 0.0]  # stable init pose
+      #   scale: [0.001, 0.001, 0.001]
+      #   apply_randomization: True
+      #   orientation_mode: keep
+      #   gap: False
+      -
+        name: plate_7
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+
+    regions:
+      -
+        object: bread_shelf_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 2, 4]  # randomly choose among these indices in random_region_list
+      -
+        object: bread_0
+        target: conveyor
+        container: bread_shelf_0
+        z_init: 0.06
+      -
+        object: lettuce_bowl_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [1, 3, 5]  # randomly choose among these indices in random_region_list
+      -
+        object: lettuce_0
+        target: conveyor
+        container: lettuce_bowl_0
+        z_init: 0.06
+      ### distractor food
+      -
+        object: bread_shelf_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6, -7, -8, -9]  # randomly choose among these indices in random_region_list
+      -
+        object: bread_1
+        target: conveyor
+        container: bread_shelf_1
+        z_init: 0.06
+      -
+        object: lettuce_bowl_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6, -7, -8]  # randomly choose among these indices in random_region_list
+      -
+        object: lettuce_1
+        target: conveyor
+        container: lettuce_bowl_1
+        z_init: 0.06
+      -
+        object: bread_shelf_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6, -7]  # randomly choose among these indices in random_region_list
+      -
+        object: bread_2
+        target: conveyor
+        container: bread_shelf_2
+        z_init: 0.06
+      -
+        object: lettuce_bowl_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6]  # randomly choose among these indices in random_region_list
+      -
+        object: lettuce_2
+        target: conveyor
+        container: lettuce_bowl_2
+        z_init: 0.06
+      -
+        object: beef_shelf_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: beef_0
+        target: conveyor
+        container: beef_shelf_0
+        z_init: 0.06
+      -
+        object: beef_shelf_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: beef_1
+        target: conveyor
+        container: beef_shelf_1
+        z_init: 0.06
+      -
+        object: beef_shelf_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: beef_2
+        target: conveyor
+        container: beef_shelf_2
+        z_init: 0.06
+      -
+        object: beef_shelf_3
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: beef_3
+        target: conveyor
+        container: beef_shelf_3
+        z_init: 0.06
+      -
+        object: plate_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: distractor_0
+        target: conveyor
+        container: plate_0
+        z_init: 0.05
+      -
+        object: plate_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: distractor_1
+        target: conveyor
+        container: plate_1
+        z_init: 0.05
+      -
+        object: plate_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_2
+        target: conveyor
+        container: plate_2
+        z_init: 0.05
+      -
+        object: plate_3
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_3
+        target: conveyor
+        container: plate_3
+        z_init: 0.05
+      -
+        object: plate_4
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      # -
+      #   object: distractor_4
+      #   target: conveyor
+      #   container: plate_4
+      #   z_init: 0.05
+      -
+        object: plate_5
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      # -
+      #   object: distractor_5
+      #   target: conveyor
+      #   container: plate_5
+      #   z_init: 0.05
+      -
+        object: plate_6
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      # -
+      #   object: distractor_6
+      #   target: conveyor
+      #   container: plate_6
+      #   z_init: 0.05
+      -
+        object: plate_7
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      # -
+      #   object: distractor_7
+      #   target: conveyor
+      #   container: plate_7
+      #   z_init: 0.05
+      ### robot
+      -
+        object: lift2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.5, -0.82, -0.78],
+            [0.5, -0.82, -0.78]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    random_region_list:
+      # This side
+      -
+        random_config:
+          pos_range: [
+            [-1.5, -0.15, 0.0],
+            [-1.4, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-1.2, -0.15, 0.0],
+            [-1.1, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.9, -0.15, 0.0],
+            [-0.8, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.6, -0.15, 0.0],
+            [-0.5, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.3, -0.15, 0.0],
+            [-0.2, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.0, -0.15, 0.0],
+            [0.1, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.3, -0.15, 0.0],
+            [0.4, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.6, -0.15, 0.0],
+            [0.7, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.9, -0.15, 0.0],
+            [1.0, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [1.2, -0.15, 0.0],
+            [1.3, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      # Other side
+      -
+        random_config:
+          pos_range: [
+            [-1.5, 0.15, 0.0],
+            [-1.4, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-1.2, 0.15, 0.0],
+            [-1.1, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.9, 0.15, 0.0],
+            [-0.8, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.6, 0.15, 0.0],
+            [-0.5, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.3, 0.15, 0.0],
+            [-0.2, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.0, 0.15, 0.0],
+            [0.1, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.3, 0.15, 0.0],
+            [0.4, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.6, 0.15, 0.0],
+            [0.7, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.9, 0.15, 0.0],
+            [1.0, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [1.2, 0.15, 0.0],
+            [1.3, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+
+    data:
+      task_dir: "beef_sandwich_lift2"
+      language_instruction: "Pick up the bread with left arm, pick up the lettuce with right arm"
+      detailed_language_instruction: "Grasp and lift the bread with the left robotic arm, grasp and lift the lettuce with the left robotic arm"
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 3000
+
+    skills:
+      -
+        lift2:
+          - # skill_sequences[0]
+            left:
+              - # skill[0]
+                name: dynamicpick
+                objects: [bread_0]
+                filter_z_dir: ["forward", 90]
+                filter_x_dir: ["downward", 150]
+                pick_range: [0.12, 0.2]
+                time_bias: 1.5
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: -1.0 # Close gripper
+            right:
+              - # skill[0]
+                name: dynamicpick
+                objects: [lettuce_0]
+                filter_z_dir: ["forward", 90]
+                filter_x_dir: ["downward", 150]
+                pick_range: [-0.15, -0.05]
+                time_bias: 1
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: -1.0 # Close gripper

workflows/simbox/core/configs/tasks/basic/lift2/conveyor_ham_sandwich/conveyor_ham_sandwich.yaml

@@ -0,0 +1,912 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/conveyor_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [2500, 5000]
+      rotation_range: [0, 180]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        # use_batch: True
+
+    neglect_collision_names: ["shelf", "bowl", "plate"]
+
+    objects:
+      ### priority food
+      -
+        name: bread_0
+        path: long_horizon/conveyor_food/bread/bread_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]  # stable init pose
+        scale: [1, 1, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_shelf_0
+        path: long_horizon/conveyor_food/bread_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.125, 0.2]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: cheese_0
+        path: long_horizon/conveyor_food/cheese/cheese_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [10.0, 0.0, 90.0]  # stable init pose
+        scale: [0.8, 1, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: cheese_plate_0
+        path: long_horizon/conveyor_food/cheese_plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.175, 0.25, 0.175]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      ### distractor food
+      -
+        name: bread_1
+        path: long_horizon/conveyor_food/bread/bread_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]  # stable init pose
+        scale: [1, 1, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_shelf_1
+        path: long_horizon/conveyor_food/bread_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.125, 0.2]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: cheese_1
+        path: long_horizon/conveyor_food/cheese/cheese_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [10.0, 0.0, 90.0]  # stable init pose
+        scale: [0.8, 1, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: cheese_plate_1
+        path: long_horizon/conveyor_food/cheese_plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.175, 0.25, 0.175]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_2
+        path: long_horizon/conveyor_food/bread/bread_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, 90.0]  # stable init pose
+        scale: [1, 1, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: bread_shelf_2
+        path: long_horizon/conveyor_food/bread_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.125, 0.2]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_2
+        path: long_horizon/conveyor_food/lettuce/lettuce_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [0.0, 0.0, -90.0]  # stable init pose
+        scale: [1, 1.2, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: lettuce_bowl_2
+        path: long_horizon/conveyor_food/lettuce_bowl/bowl_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_0
+        path: long_horizon/conveyor_food/beef/beef_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_0
+        path: long_horizon/conveyor_food/beef_shelf/shelf_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_1
+        path: long_horizon/conveyor_food/beef/beef_1/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_1
+        path: long_horizon/conveyor_food/beef_shelf/shelf_1/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_2
+        path: long_horizon/conveyor_food/beef/beef_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_2
+        path: long_horizon/conveyor_food/beef_shelf/shelf_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_3
+        path: long_horizon/conveyor_food/beef/beef_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [-90.0, 90.0, 180.0]  # stable init pose
+        scale: [1, 1.3, 1]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: beef_shelf_3
+        path: long_horizon/conveyor_food/beef_shelf/shelf_2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.2, 0.17, 0.17]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_0
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_0
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_1
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_1
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_2
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_2
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_3
+        path: long_horizon/conveyor_food/distractor/fruits/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.8, 0.8, 0.8]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_3
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_4
+        path: long_horizon/conveyor_bg_obj/orange/omniobject3d-orange_001/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_4
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_5
+        path: long_horizon/conveyor_bg_obj/pear/omniobject3d-pear_007/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_5
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_6
+        path: long_horizon/conveyor_bg_obj/orange/omniobject3d-orange_001/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_6
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: distractor_7
+        path: long_horizon/conveyor_bg_obj/orange/omniobject3d-orange_001/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.001, 0.001, 0.001]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+      -
+        name: plate_7
+        path: long_horizon/conveyor_food/plate/plate_0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: bottle
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90.0, 0.0, 0.0]  # stable init pose
+        scale: [0.15, 0.15, 0.15]
+        apply_randomization: True
+        orientation_mode: keep
+        gap: False
+
+    regions:
+      #### container first, object second
+      ### priority food
+      ## left hand first, right hand second
+      -
+        object: bread_shelf_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 2, 4]  # randomly choose among these indices in random_region_list
+      -
+        object: bread_0
+        target: conveyor
+        container: bread_shelf_0
+        z_init: 0.06
+      -
+        object: cheese_plate_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [1, 3, 5]  # randomly choose among these indices in random_region_list
+      -
+        object: cheese_0
+        target: conveyor
+        container: cheese_plate_0
+        z_init: 0.06
+      ### distractor food
+      -
+        object: bread_shelf_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6, -7, -8, -9]  # randomly choose among these indices in random_region_list
+      -
+        object: bread_1
+        target: conveyor
+        container: bread_shelf_1
+        z_init: 0.06
+      -
+        object: cheese_plate_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6, -7, -8]  # randomly choose among these indices in random_region_list
+      -
+        object: cheese_1
+        target: conveyor
+        container: cheese_plate_1
+        z_init: 0.06
+      -
+        object: bread_shelf_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6, -7]  # randomly choose among these indices in random_region_list
+      -
+        object: bread_2
+        target: conveyor
+        container: bread_shelf_2
+        z_init: 0.06
+      -
+        object: lettuce_bowl_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [-1, -2, -3, -4, -5, -6]  # randomly choose among these indices in random_region_list
+      -
+        object: lettuce_2
+        target: conveyor
+        container: lettuce_bowl_2
+        z_init: 0.06
+      -
+        object: beef_shelf_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: beef_0
+        target: conveyor
+        container: beef_shelf_0
+        z_init: 0.06
+      -
+        object: beef_shelf_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: beef_1
+        target: conveyor
+        container: beef_shelf_1
+        z_init: 0.06
+      -
+        object: beef_shelf_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: beef_2
+        target: conveyor
+        container: beef_shelf_2
+        z_init: 0.06
+      -
+        object: beef_shelf_3
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: beef_3
+        target: conveyor
+        container: beef_shelf_3
+        z_init: 0.06
+      -
+        object: plate_0
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: distractor_0
+        target: conveyor
+        container: plate_0
+        z_init: 0.05
+      -
+        object: plate_1
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: [0, 1, 2, 3, 4, 5]
+      -
+        object: distractor_1
+        target: conveyor
+        container: plate_1
+        z_init: 0.05
+      -
+        object: plate_2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_2
+        target: conveyor
+        container: plate_2
+        z_init: 0.05
+      -
+        object: plate_3
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_3
+        target: conveyor
+        container: plate_3
+        z_init: 0.05
+      -
+        object: plate_4
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_4
+        target: conveyor
+        container: plate_4
+        z_init: 0.05
+      -
+        object: plate_5
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_5
+        target: conveyor
+        container: plate_5
+        z_init: 0.05
+      -
+        object: plate_6
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_6
+        target: conveyor
+        container: plate_6
+        z_init: 0.05
+      -
+        object: plate_7
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        priority: False
+      -
+        object: distractor_7
+        target: conveyor
+        container: plate_7
+        z_init: 0.05
+      ### robot
+      -
+        object: lift2
+        target: conveyor
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.5, -0.82, -0.78],
+            [0.5, -0.82, -0.78]
+          ]
+          yaw_rotation: [0.0, 0.0]
+
+    random_region_list:
+      # This side
+      -
+        random_config:
+          pos_range: [
+            [-1.5, -0.15, 0.0],
+            [-1.4, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-1.2, -0.15, 0.0],
+            [-1.1, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.9, -0.15, 0.0],
+            [-0.8, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.6, -0.15, 0.0],
+            [-0.5, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.3, -0.15, 0.0],
+            [-0.2, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.0, -0.15, 0.0],
+            [0.1, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.3, -0.15, 0.0],
+            [0.4, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.6, -0.15, 0.0],
+            [0.7, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.9, -0.15, 0.0],
+            [1.0, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [1.2, -0.15, 0.0],
+            [1.3, -0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      # Other side
+      -
+        random_config:
+          pos_range: [
+            [-1.5, 0.15, 0.0],
+            [-1.4, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-1.2, 0.15, 0.0],
+            [-1.1, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.9, 0.15, 0.0],
+            [-0.8, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.6, 0.15, 0.0],
+            [-0.5, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [-0.3, 0.15, 0.0],
+            [-0.2, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.0, 0.15, 0.0],
+            [0.1, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.3, 0.15, 0.0],
+            [0.4, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.6, 0.15, 0.0],
+            [0.7, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [0.9, 0.15, 0.0],
+            [1.0, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+      -
+        random_config:
+          pos_range: [
+            [1.2, 0.15, 0.0],
+            [1.3, 0.25, 0.0]
+          ]
+          yaw_rotation: [-5.0, 5.0]
+
+    cameras:
+      -
+        name: lift2_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "lift2/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: lift2_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "lift2/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+
+    data:
+      task_dir: "ham_sandwich_lift2"
+      language_instruction: "Pick up the bread with left arm, pick up the cheese with right arm"
+      detailed_language_instruction: "Grasp and lift the bread with the left robotic arm, grasp and lift the cheese with the left robotic arm"
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 3000
+
+    skills:
+      -
+        lift2:
+          - # skill_sequences[0]
+            left:
+              - # skill[0]
+                name: dynamicpick
+                objects: [bread_0]
+                filter_z_dir: ["forward", 90]
+                filter_x_dir: ["downward", 150]
+                pick_range: [0.12, 0.2]
+                time_bias: 1.5
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: -1.0 # Close gripper
+            right:
+              - # skill[0]
+                name: dynamicpick
+                objects: [cheese_0]
+                filter_z_dir: ["forward", 90]
+                filter_x_dir: ["downward", 150]
+                pick_range: [-0.15, -0.05]
+                time_bias: 1
+              -
+                name: heuristic__skill
+                mode: home
+                gripper_state: -1.0 # Close gripper

workflows/simbox/core/configs/tasks/basic/lift2/hang_the_cup_on_rack/left/hang_the_cup_on_rack_part0.yaml

@@ -0,0 +1,164 @@
+tasks:
+  -
+    name: banana_base_task  # task name
+    asset_root: workflows/simbox/assets
+    task: BananaBaseTask  # !! where you specify TASK class
+    task_id: 0
+
+    offset: null
+    render: True
+
+
+    # Arena configuration
+    arena_file: workflows/simbox/core/configs/arenas/pick_randomized_arena.yaml
+    # arena_file: workflows/simbox/core/configs/arenas/scene_arena.yaml
+
+    env_map:
+      envmap_lib: envmap_lib
+      apply_randomization: True
+      intensity_range: [4000, 7000]
+      rotation_range: [0, 180]
+
+    neglect_collision_names: ["table"]
+
+    robots:
+      -
+        name: "lift2"
+        robot_config_file: workflows/simbox/core/configs/robots/lift2.yaml
+        euler: [0.0, 0.0, 90.0]
+        left_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        right_joint_home: [-0.00059017,  0.00374724,  0.00516233,  0.00025332, -0.00105036, -0.00132419]
+        left_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        right_joint_home_std: [0.1, 0.1, 0.1, 0.1, 0.1, 0.1]
+        ignore_substring: ["material", "Plane", "table", "conveyor", "scene", "oo3d_object2"]
+        tcp_offset: 0.135
+
+    objects:
+      -
+        name: oo3d_object1
+        path: basic/hang_the_cup_on_rack/cup/cup2/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: gift
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90, 0.0, 0.0]  # stable init pose
+        scale: [1, 1, 1]
+      -
+        name: oo3d_object2
+        path: basic/hang_the_cup_on_rack/cup_shelf/cup_shelf0/Aligned_obj.usd
+        target_class: RigidObject
+        dataset: oo3d
+        category: gift
+        prim_path_child: Aligned
+        translation: [0.0, 0.0, 0.0]
+        euler: [90, 0.0, 0.0]  # stable init pose
+        scale: [1, 1, 1]
+
+    regions:
+    # Order is important!
+      -
+        object: ${tasks.0.robots.0.name}
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [0.0, -0.86, -0.725],
+            [0.0, -0.86, -0.725]
+          ]
+          yaw_rotation: [0.0, 0.0]
+      -
+        object: oo3d_object1
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.35, -0.25, 0.0],
+            [-0.2, -0.1, 0.0]
+          ]
+          yaw_rotation: [0, 0]
+      -
+        object: oo3d_object2
+        target: table
+        random_type: A_on_B_region_sampler
+        random_config:
+          pos_range: [
+            [-0.05, -0.25, 0.0],
+            [0.2, -0.2, 0.0]
+          ]
+          yaw_rotation: [0,0]
+
+    cameras:
+      -
+        name: ${tasks.0.robots.0.name}_hand_left
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/fl/link6"  # todo
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: ${tasks.0.robots.0.name}_hand_right
+        translation: [0.07, 0.01, 0.08]
+        orientation: [0.62, 0.33, -0.33, -0.62]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d405.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/fr/link6"
+        apply_randomization: True
+        max_translation_noise: 0.02
+        max_orientation_noise: 2.5
+      -
+        name: ${tasks.0.robots.0.name}_head
+        translation: [0.1, 0.02, 0.03]
+        orientation: [0.6602, 0.2534, -0.2534, -0.6602]
+        camera_axes: usd
+        camera_file: workflows/simbox/core/configs/cameras/realsense_d455_v3.yaml
+        parent: "${tasks.0.robots.0.name}/lift2/lift2/h_link6"  # todo: robot base frame
+        apply_randomization: True
+        max_translation_noise: 0.03
+        max_orientation_noise: 5.0
+
+    data:
+      task_dir: "hang_the_cup_on_rack_part0"
+      language_instruction: "Place cup on the shelf with left arm."
+      detailed_language_instruction: "Place cup on the shelf with the left robotic arm."
+      collect_info: ""
+      version: "v3.0, head camerea 1280x720, wrist 640x480, y 45 degrees"
+      update: True
+      max_episode_length: 1000
+
+    skills:
+      -
+        lift2:
+          -
+            left:
+            -
+              name: pick
+              objects: [oo3d_object1]
+              pre_grasp_offset: 0.05
+              filter_z_dir: ["upward", 60]
+              filter_x_dir: ["forward", 30]
+              pre_grasp_hold_vec_weight: [1,1,1,0,0,0]
+              post_grasp_offset_min: 0.10
+              post_grasp_offset_max: 0.10
+            -
+              name: place
+              objects: [oo3d_object1, oo3d_object2]
+              place_direction: horizontal
+              filter_z_dir: ["upward", 30]
+              align_pick_obj_axis: [1, 0, 0]
+              align_place_obj_axis: [1, 0, 0]
+              offset_place_obj_axis: [0,0,-1]
+              align_obj_tol: 10 # degree
+              pre_place_align: -0.15
+              place_align: -0.07
+              pre_place_offset: 0.027
+              place_offset: 0.027
+              position_constraint: object
+              x_ratio_range: [0.5,0.5]
+              y_ratio_range: [0.5,0.5]
+              z_ratio_range: [0.72,0.72]
+              success_th: 0.1
+              success_mode: cup