source/bimanual/yam/tasks/configs/stack_cups.yaml

# stack_cups -- STACK TWO CUPS ON THE TARGET
#
# Scene parameters for StackCupsTask, mirroring tasks/stack_cups.py.
# EVERYTHING BELOW IS COMMENTED OUT ON PURPOSE: an active key here OVERRIDES the Python
# and keeps overriding it, so a later code change silently does nothing. Uncomment only
# the keys you want this file to own.
# One-off override without editing:  --set key=value

#rw_objects:
#  rw_cupA: 021_cup/base0.usd:0.075:0.08
#  rw_cupB: 021_cup/base1.usd:0.075:0.08
#cup_spawns:
#  rw_cupA:
#  - -0.05
#  - 0.11
#  rw_cupB:
#  - 0.05
#  - 0.05
#spawn_jitter:
#- 0.02
#- 0.015
#target_xy:
#- 0.02
#- -0.22
#target_size: 0.12
#cup_roll: 90
#gripper_effort: 55
#gripper_damping: 72