diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..a2a69bda2c293af1ca6a6e442bcb71811f709e90 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,9 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+tasks/Minimal_Banana/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/Minimal_Banana/007/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/Minimal_Banana/001/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/Minimal_Banana/004/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/Minimal_Banana/006/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/Minimal_Banana/005/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
diff --git a/.version b/.version
new file mode 100644
index 0000000000000000000000000000000000000000..6c6aa7cb0918dc7a1cfa3635fb7f8792ac4cb218
--- /dev/null
+++ b/.version
@@ -0,0 +1 @@
+0.1.0
\ No newline at end of file
diff --git a/cameras/fixed_camera.yml b/cameras/fixed_camera.yml
new file mode 100644
index 0000000000000000000000000000000000000000..bb3b570aa9a67439b6072380ad1bc66427eeeb34
--- /dev/null
+++ b/cameras/fixed_camera.yml
@@ -0,0 +1,108 @@
+camera1:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.001
+  exists: false
+  focal_length: 5.0
+  frequency: 60
+  horizontal_aperture: 10.0
+  name: camera1
+  orientation:
+  - -0.0071865058262247095
+  - -0.5792785229595211
+  - -0.005107428795172445
+  - 0.815081996576386
+  position:
+  - 0.28070902824401855
+  - -0.02326910011470318
+  - 1.6857764720916748
+  prim_path: /camera1
+  resolution:
+  - 1280
+  - 720
+  vertical_aperture: 5.625
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
+obs_camera:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.01
+  exists: false
+  focal_length: 4.5
+  frequency: 60
+  horizontal_aperture: 6.4
+  name: obs_camera
+  orientation:
+  - 0.0
+  - -0.42261829
+  - 0.0
+  - 0.90630777
+  position:
+  - 0.65
+  - 0.0
+  - 1.85
+  prim_path: /obs_camera
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 4.8
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
+obs_camera_2:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.01
+  exists: false
+  focal_length: 4.5
+  frequency: 60
+  horizontal_aperture: 6.4
+  name: obs_camera_2
+  orientation:
+  - 0.83057843
+  - -0.1464534
+  - 0.34536953
+  - 0.41159539
+  position:
+  - -0.6
+  - -0.75
+  - 1.85
+  prim_path: /obs_camera_2
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 4.8
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
+realsense:
+  clipping_range_max: 10000.0
+  clipping_range_min: 0.01
+  exists: true
+  focal_length: 4.5
+  frequency: 60
+  horizontal_aperture: 10.0
+  name: realsense
+  orientation:
+  - 0.0
+  - 0.707106781
+  - 0.0
+  - 0.707106781
+  position:
+  - 0.03
+  - 0.0
+  - 0.025
+  prim_path: /franka/panda_hand/geometry/realsense
+  resolution:
+  - 640
+  - 480
+  vertical_aperture: 5.625
+  with_distance: true
+  with_semantic: true
+  with_bbox2d: true
+  with_bbox3d: true
+  with_motion_vector: true
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda
new file mode 100644
index 0000000000000000000000000000000000000000..f6d300f4e0478635a99547a874ee7f192385b4a6
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda
@@ -0,0 +1,78 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary omni_layer = {
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+            float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
+            float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
+            float3 "rtx:index:backgroundColor" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMax" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMin" = (0, 0, 0)
+            float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gain" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:offset" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:saturation" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gain" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:lift" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:multiply" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:offset" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1)
+            float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2)
+            float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75)
+            float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50)
+            float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1)
+            float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32)
+            float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
+            float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
+            float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
+            double "rtx:translucency:worldEps" = 0.005
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1.0
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Render" (
+    hide_in_stage_window = true
+)
+{
+}
+
+def Xform "World"
+{
+    def "_instance" (
+        prepend payload = @./instance.usd@
+    )
+    {
+        float3 xformOp:rotateXYZ = (0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+    }
+}
+
+def Xform "Environment"
+{
+    double3 xformOp:rotateXYZ = (0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+}
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture2.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..17fd6343c939b9f8f5760ddadb2081566567f5ac
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aeb4a827079b88e1bb74240b9469c610d0bc29745c794ce055f921a89907d4
+size 528927
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture1.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a67edbd4bc0d2a551a7519acc147e6af1ab1a7fe
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a1d9266240bb451314d434a76964345fce20151463f9c5da221ee83493b06d
+size 681573
diff --git a/tasks/Minimal_Banana/000/config.yaml b/tasks/Minimal_Banana/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/000/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/000/lmdb/info.json b/tasks/Minimal_Banana/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/000/lmdb/lock.mdb b/tasks/Minimal_Banana/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/000/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/001/config.yaml b/tasks/Minimal_Banana/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/001/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/001/lmdb/data.mdb b/tasks/Minimal_Banana/001/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..772bec02c00b190f8dfe7f78a12c58ac9e93ac31
--- /dev/null
+++ b/tasks/Minimal_Banana/001/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f35fed02093eea9e07777220ea080aabf2cdc1cae193ddef05126d7ab50e72b1
+size 708608
diff --git a/tasks/Minimal_Banana/001/lmdb/info.json b/tasks/Minimal_Banana/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/001/lmdb/lock.mdb b/tasks/Minimal_Banana/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/001/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/001/meta_info.pkl b/tasks/Minimal_Banana/001/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..5cc3912a0bbb9765a0fb37f89589a68503f53821
--- /dev/null
+++ b/tasks/Minimal_Banana/001/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f619fd1f33faa17a5ff566bf930fd67c55013202f75cf44740db42a1b90e4126
+size 4849
diff --git a/tasks/Minimal_Banana/002/config.yaml b/tasks/Minimal_Banana/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/002/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/002/lmdb/info.json b/tasks/Minimal_Banana/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/002/lmdb/lock.mdb b/tasks/Minimal_Banana/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/002/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/002/meta_info.pkl b/tasks/Minimal_Banana/002/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..781741d8cd20fa092a46eb3778799ebd236bb7c5
--- /dev/null
+++ b/tasks/Minimal_Banana/002/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80edf3d414cdcda8dca33ab8b1fee95777f910cfac11e218b9e1929c71cbd0a2
+size 4849
diff --git a/tasks/Minimal_Banana/003/config.yaml b/tasks/Minimal_Banana/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/003/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/003/lmdb/data.mdb b/tasks/Minimal_Banana/003/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..258f5cbe472df7875514ee9ca741aa3d6be3399d
--- /dev/null
+++ b/tasks/Minimal_Banana/003/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d73d15efdf25437cf7f9c57edab9181385f737d05f0e797fae0de38b28bed1
+size 716800
diff --git a/tasks/Minimal_Banana/003/lmdb/info.json b/tasks/Minimal_Banana/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/003/lmdb/lock.mdb b/tasks/Minimal_Banana/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/003/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/003/meta_info.pkl b/tasks/Minimal_Banana/003/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ca65237930b1dc58efb4305187616c36bccfe8a8
--- /dev/null
+++ b/tasks/Minimal_Banana/003/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a37e1083752067342f320d713b371d3f4e9bb1cc43e71e0df38f92882c5d9f0
+size 4849
diff --git a/tasks/Minimal_Banana/004/config.yaml b/tasks/Minimal_Banana/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/004/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/004/lmdb/data.mdb b/tasks/Minimal_Banana/004/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..9ef7b2cfe284854019d6d3e0e712f38e022537f3
--- /dev/null
+++ b/tasks/Minimal_Banana/004/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d9ed99557c7ddb58e52212f8f1ea8b36b7632362eb5afd42cf2efc10385ba88
+size 716800
diff --git a/tasks/Minimal_Banana/004/lmdb/info.json b/tasks/Minimal_Banana/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/004/lmdb/lock.mdb b/tasks/Minimal_Banana/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/004/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/004/meta_info.pkl b/tasks/Minimal_Banana/004/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..dfc36dff46124ec1861bcf8927499d51c9ba0451
--- /dev/null
+++ b/tasks/Minimal_Banana/004/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8593d1517f23110dc1f87f7c40d75eb86a9cc32b219e4ba0c2d8d1a191f9a9b2
+size 4849
diff --git a/tasks/Minimal_Banana/005/config.yaml b/tasks/Minimal_Banana/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/005/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/005/lmdb/data.mdb b/tasks/Minimal_Banana/005/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..2d012da82ac5561d914f4148e4df0c3425caa1dc
--- /dev/null
+++ b/tasks/Minimal_Banana/005/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693373f054e75434ca90be0852b234e10bcb00edb7b95bc62af00416ff353476
+size 708608
diff --git a/tasks/Minimal_Banana/005/lmdb/info.json b/tasks/Minimal_Banana/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/005/lmdb/lock.mdb b/tasks/Minimal_Banana/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/005/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/005/meta_info.pkl b/tasks/Minimal_Banana/005/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..6710dbde88fcc8eab284ba55787d3eacab1bc01e
--- /dev/null
+++ b/tasks/Minimal_Banana/005/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0e564fb3d271bd867f1cdba5001251b60e177fe2661ea5e2e16ce2cddede983
+size 4849
diff --git a/tasks/Minimal_Banana/006/config.yaml b/tasks/Minimal_Banana/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/006/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/006/lmdb/data.mdb b/tasks/Minimal_Banana/006/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..cb4d7eb61bd424ec6a1b4184a5682141429b78c4
--- /dev/null
+++ b/tasks/Minimal_Banana/006/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c108eee7c501b3a748db4f0983bee2c45f26b44225be001ea19171fae7259e94
+size 716800
diff --git a/tasks/Minimal_Banana/006/lmdb/info.json b/tasks/Minimal_Banana/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/006/lmdb/lock.mdb b/tasks/Minimal_Banana/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
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diff --git a/tasks/Minimal_Banana/006/meta_info.pkl b/tasks/Minimal_Banana/006/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..01fbd0d46179976f24fa3a4e5b3eb640eaf60990
--- /dev/null
+++ b/tasks/Minimal_Banana/006/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77a3952e9ddc83b8c74f458fd540320c80b65161b9c2904d77141eeb08497b48
+size 4849
diff --git a/tasks/Minimal_Banana/007/config.yaml b/tasks/Minimal_Banana/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/007/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/007/lmdb/data.mdb b/tasks/Minimal_Banana/007/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..fc344f381c56988c0e1e9dd8aea36f346a691cfe
--- /dev/null
+++ b/tasks/Minimal_Banana/007/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5057b5d91c313bff1c2849d8f28bb669d111a1ea7530d5570595b6ae2000fe62
+size 716800
diff --git a/tasks/Minimal_Banana/007/lmdb/info.json b/tasks/Minimal_Banana/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/007/lmdb/lock.mdb b/tasks/Minimal_Banana/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/007/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/007/meta_info.pkl b/tasks/Minimal_Banana/007/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ce6b0ccc57308ba09b898a394fa003344ca55f4e
--- /dev/null
+++ b/tasks/Minimal_Banana/007/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42581f6dc68b9a370f534cc40c43a70b28af33ba42c13a75dce138662a8ab6ce
+size 4849
diff --git a/tasks/Minimal_Banana/008/config.yaml b/tasks/Minimal_Banana/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/008/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/008/lmdb/info.json b/tasks/Minimal_Banana/008/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/008/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/008/lmdb/lock.mdb b/tasks/Minimal_Banana/008/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/008/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/009/config.yaml b/tasks/Minimal_Banana/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/Minimal_Banana/009/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/Minimal_Banana/009/lmdb/info.json b/tasks/Minimal_Banana/009/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/Minimal_Banana/009/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/Minimal_Banana/009/lmdb/lock.mdb b/tasks/Minimal_Banana/009/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/Minimal_Banana/009/lmdb/lock.mdb differ
diff --git a/tasks/Minimal_Banana/009/meta_info.pkl b/tasks/Minimal_Banana/009/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9e879fdb78f410e61d2dff87f941ecc1dd7b6d31
--- /dev/null
+++ b/tasks/Minimal_Banana/009/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c3ee3fb10ebbf60e96900631bc90d855425c98182ec58e428b1ec699336920
+size 4849
diff --git a/tasks/config.yaml b/tasks/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea1499b3c040871d6f0a255272556ea7373cec30
--- /dev/null
+++ b/tasks/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: saved/assets/collected_packages/GenManip-Package-Basic/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance