demonstration_configs: []
evaluation_configs:
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/568135e44db84397b5881f336c90e493.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cc0099a687194a31a052ac761f5fdfea.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/212d33f6b5904bed965a87b018325b26.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3f1dd36d74a74f3eb61e07c5129e1f9a.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4f62d0f994744f2aa23590535c727362.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f8e67bafae6f4f38a45619edf080b8c8.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/89991057aba34433a77425141b3ba35e.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d93365fe0cf54bac95b60027df67f179.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e24dedc89f3441c88955ec95be4dc728.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/cec2e890307a499197d4b1b0a9db21fa.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/e92205e389f24d75811f463405a33bfe.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0476
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c3cc5a3e1b5f47cbaf841aee7125b759.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/843097ce271b4871aa367c9cc2ff3e38.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/50ae9e262730477896c1a654c4c78344.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b77ff389442745f399221f3c29e4f427.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/edbb7502a3f54d638f7b66aaf3716b80.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ff9b8718760f45caa6f1f77815221d80.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5e502c286bac462cbe2f8b37c351c1dc.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/68f02119f23b46f688831ae411973ab9.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/013755b44b7445fc8d4c864febe96c59.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/d69f166807594444aaf8b1c72480e7bc.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/11a459d53cd04ff69da21d96ce848aec.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0142
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/47ada0835eb647219ee3e385a8fea1b5.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c76b988cb4394ecbbe6fecc56261d9c7.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/dac3b8e43f3e4b48bc0f7d05031b8866.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/bb14ee2eadb144c69d6267a36ea19a17.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/795fed5bd7634836a668b06d8c8501e3.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/24e08392fa484f9b8de902982eded814.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7f6e543144fd4bb59472d90442469363.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/88bfa0c9b60a4892b0e14824fccd9e1e.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/754ff778bac64db5b6f92516f8259974.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/56d3576ceea740f7a42118dd008ac664.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/35fccced96e84be5b5203442c7e0f994.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0261
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/182169eeec334fa4bdcce740422ea5c5.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b64cc543ee054623859b91d6e7a49ad5.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/654306fc3ae344c7b9e7a9a40faca45b.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9104ac024c8c4e4b80e5664c8a18fbce.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ad010b988fa44a48baaf9bba6bd97d9b.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5bbe904be8234708a0c65224171534c4.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1b0ff5c7f3094f4b90be6a6cbfea0eff.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/3ff33f5baae24b9eab100442fce797e7.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/c347c6f0357a4deca3a47299c1d6d83c.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/a3994e8b236d441c9775b2669046bd29.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/dd16b3f9654d437da3f8aa0bf576c295.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0623
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e0bfc49fde124fb89cd5cacb0be1a1d6.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e1f96691aaf648b885d927f5c3f5be61.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/527afc8f11ab4182a0d2c414a04c819d.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/cf1fd797bc2b47e881800ce02f3d35f6.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e60666a29ba547ba90ccb7c48389dd4a.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/134f666a480347b8a1be2867e17fcdf5.usd
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      filter_rule: []
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      path: object_usds/objaverse_usd/e451c15161684f3c98eba02e9bbbd987.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/36c7d2d215f34b30b99911ec3ff63c04.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e4a7ac2fe26443a4b9a786634a43f6e0.usd
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    obj1_0:
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      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/f558577f954040dba86ab2d353f52d06.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/53628a1dd6854be892a512b62682d1e0.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0165
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cbb36818144642b7b8183cf1ffdce407.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cc0099a687194a31a052ac761f5fdfea.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/eb9eabb6ec0b4630bc28714a097c9c9f.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2a77a1c27b604f038138e16116091ae7.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7416f0f3e04c48d1af25778171256341.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/49901da020e2493dab494e9bc8997f72.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d66be869bfc34004b6b72c4467de63dd.usd
      type: add_additional_object_from_path
    background_7:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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        min: 0.05
      filter_rule:
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      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/22167c46e1054f218aa7a59b8239e650.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/26338a22392a445ab48369959d840917.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
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    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0051
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e2a0a0c088a64ab185f948f87da9d7e3.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f5d9d526fd5b4078be3715359744a75f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/280ea8a81d604c4099b84525b646ffc7.usd
      type: add_additional_object_from_path
    background_3:
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      filter_rule: []
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      path: object_usds/objaverse_usd/32768cf6bb474b84992b453ade48e6b5.usd
      type: add_additional_object_from_path
    background_4:
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      filter_rule: []
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      path: object_usds/objaverse_usd/425a4150ebbd4b5b9cd3cfbcfa0c85ac.usd
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    background_5:
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      path: object_usds/objaverse_usd/2d47c4297f4c4e499e1418e8d8a0b899.usd
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      path: object_usds/objaverse_usd/e6871d08d03d4e4083cf4653fcd3744e.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/b2b577977af04c43a44963e4f34d9631.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/085dca6d7eaa49a2bc459adfe3357da9.usd
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    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/2e3eb5fffa9044da981f3102d87bfdc4.usd
      type: add_additional_object_from_path
    obj2:
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      option:
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      path: object_usds/objaverse_usd/b9de1fa4c9714357859bc4dd10de5274.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
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    - 0.0
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1683e4db051847cb8a5a38786e071d2c.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f5a15ee9d42b4154b8e66541b9ae1a0f.usd
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      path: object_usds/objaverse_usd/958773dd534349d08040acede85d78e3.usd
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      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_4:
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/085dca6d7eaa49a2bc459adfe3357da9.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f5d9d526fd5b4078be3715359744a75f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e1eb2a947de04e31a87394cdbbe1f59b.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e2a0a0c088a64ab185f948f87da9d7e3.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/32768cf6bb474b84992b453ade48e6b5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/c2a66c76348b493196e765361b30b82f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/00b6f70f3f9e43eca3d5c08f67d4b1ff.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/bace206257854cfa86bdbdc14dffc67e.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ff0abe17dc64498191bb41c905d00ab0.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/c2e916b66c4d4bf5b93373cb43a85b99.usd
      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
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    type: ccd
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
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        type: global_range
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        type: global_range
      background_8:
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/bfae016fbb0d4c5586131dae5b18ea02.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/38232c0c87d641ac8632d846de3821a7.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0796e23ab5c0448c9bdf3fe5c3b3e362.usd
      type: add_additional_object_from_path
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      wall_texture: false
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        force_fixed_grasp: true
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        position:
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    planner: curobo
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        random_range_h: 20
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        type: global_range
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    in_order: true
    type: random_custom_tableset
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      path: object_usds/objaverse_usd/3b933fea04cb486ab3a0d651ab7fb69d.usd
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- domain_randomization:
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        position:
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- domain_randomization:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/16969cfef8de45eaaa73d2560b100be9.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/5404f764e6054d83ab563037d6c3dabe.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/a3a5af14a6ef47fea2e513140503df1a.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0246
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_4:
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/456d2a54d73d4e30ac2e01ffb0cb3c80.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0bc4b6d9151645c2ab674286ee896a66.usd
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      path: object_usds/objaverse_usd/41415a2e3054491baa46da5d7a859dfc.usd
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      path: object_usds/objaverse_usd/dc12313e97434133a6279a458d0650c5.usd
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      path: object_usds/objaverse_usd/2db704bf632746328cfe91d71e293479.usd
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      path: object_usds/objaverse_usd/3664f42ab5d346bca1a7fb7c7ebad895.usd
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      option:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
        random_range_angle: 360
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/ab2c596122b54f14a613b3d54b7191e3.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/b951f91631ac43fcbd5a2d8108f93078.usd
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      path: object_usds/objaverse_usd/85fc6c47742b43cca47b92cc76a5a1e9.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e16617aad7e0489a973cfc6bd896d0c5.usd
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      path: object_usds/objaverse_usd/cc19391032eb4ff7872b274df375801e.usd
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      path: object_usds/objaverse_usd/5d9f94e4f5034d8cba3ac4b05dbc06ad.usd
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      path: object_usds/objaverse_usd/8f1b662cfb074fc4b6b14298b2888f2a.usd
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      path: object_usds/objaverse_usd/e39cc079f57748a5b1c16d22557cf1f6.usd
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      option:
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      type: add_additional_object_from_path
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0219
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e7ba73da1a4740c7b7c3e48ac1e6c76f.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cf1fd797bc2b47e881800ce02f3d35f6.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/134f666a480347b8a1be2867e17fcdf5.usd
      type: add_additional_object_from_path
    background_3:
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      is_not_rigid: true
      path: object_usds/objaverse_usd/e2b9ee3b44c145d481e82f1cd344433d.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/e4a7ac2fe26443a4b9a786634a43f6e0.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/a83cded96c744513ae3482817bfef0a4.usd
      type: add_additional_object_from_path
    background_6:
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      filter_rule: []
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      path: object_usds/objaverse_usd/bb3f527e46ae4180ba07f5ebca951a2b.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3140df3043634af39652529e9234561f.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/3641eba2ee58429086aee65acb061b1e.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/11672af57b8c4aaf9f49193a6134dc52.usd
      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
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      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0303
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/efb3ef63a12c4b16b5ac0f66bbdf705d.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/5272152dfe5f4cc5aafdf399b10a79e0.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/c6f3714d4bec4c019e21d17a88afea46.usd
      type: add_additional_object_from_path
    background_3:
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      path: object_usds/objaverse_usd/939328f7b4514e49a177548112d7a950.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      path: object_usds/objaverse_usd/3ec38868fa9947328e2d0f80a8be51db.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/5bbdefa4234c4a6fab4e8de8b1ce6d30.usd
      type: add_additional_object_from_path
    background_6:
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      is_not_rigid: true
      path: object_usds/objaverse_usd/0a36fc7335524892884a73c3ca1c37d6.usd
      type: add_additional_object_from_path
    background_7:
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      path: object_usds/objaverse_usd/533212e9f5fd45979013087b7dcbeef5.usd
      type: add_additional_object_from_path
    background_8:
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    obj2:
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      path: object_usds/objaverse_usd/09751dc6d60c4e0680b4942e9ac4fd36.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_8:
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        type: global_range
      obj1_0:
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/568135e44db84397b5881f336c90e493.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8d28b4123c6641b19c6557cf8f2f80c6.usd
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      type: add_additional_object_from_path
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      option:
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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    type: ccd
  - config:
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2227352d74d9471ebdd17e8e4cbab211.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/93be3863184d49b8b8b14184ed8595fb.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1683e4db051847cb8a5a38786e071d2c.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d940a9c448ae4c1bb04f84b0f61f41d7.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c0c65d7ef38e4babb14cebbde7bdaa0f.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3b933fea04cb486ab3a0d651ab7fb69d.usd
      type: add_additional_object_from_path
    background_6:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4ae3e3780d0242b394fcd1a610fb5d58.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      path: object_usds/objaverse_usd/56b71e48de3d4ce2a3b44b80b64dfd69.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/0a8872fa06ff46128f83c2c4245ddb71.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/f7961f80c8864bcfbbf15f5ed5a6ceba.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/b23f88b379224afeafe029642b62f899.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0120
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/fb1554855d57463ba8f9563cdb2737f6.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0d4621ddbf2b4a87b3102d8ab835c939.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ad49cafef90c4b00a8a1e675e01fe487.usd
      type: add_additional_object_from_path
    background_3:
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      path: object_usds/objaverse_usd/9e8ca8a62e6b4cc4b7d8206512cd3fe1.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/a42c166a40bc49a39281a8a5640c5290.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/eec291dcc28c4395a0ec97c84923f89e.usd
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e5abc2ece9ae4a80a047e7a7c5173a0c.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/92d6c1e43d744566bde8a1f7e6742157.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/8764db73f98f4a699e9f63d7a081fddf.usd
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    obj1_0:
      clip_range:
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      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/9bbd7bbbc05245ae862f1a4449b85fd5.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
      - is_container
      option:
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      path: object_usds/objaverse_usd/8ad22c7616da4ee39fe66fa982d840a2.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0473
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e79dd9ab2e2340d98076e4c4b6fc8b12.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/729ac26b84044ff8956bd484056efbdb.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ca0b60de05094a3785a03e8d67a5adba.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6ababe9a246c46089c79c3b709b8fd62.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c6c70861cfc84a2ba366b4bb5cc58aff.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/524aee0f7d6d457aad44f77bca2988a1.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a2650310ca8b4e88bd5ea6aca7dd818d.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7cc573b557f6494a802c24b6ff02d641.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c2a66c76348b493196e765361b30b82f.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/2d73906b3cb14fcca26b13ab39da14ba.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
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      path: object_usds/objaverse_usd/c60c42a462484cde82679312cb26a537.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0057
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/72452bff819d4dd9a47dd7791b00d6b9.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c45144af966a44c4b242b1e2fdbfdb29.usd
      type: add_additional_object_from_path
    background_2:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7a8d8b20d6ac411389a521454ce74f40.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e08e87eff7b04c8bbbb624154b70b609.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/74d467eb13b44d3890862046c3539992.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/7a1de8e4e9ed43aea81ea8d12c680948.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/94f4100cb87e4c7a83d4575594b80579.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      path: object_usds/objaverse_usd/9e0a989a5aee4ecda68e08b62552a799.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/0ab534c493e14f67bac01ee94f20e43f.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/9becd39c7f634432bdfeece8be6b57df.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/80bd9cdce619447494330db8038de96b.usd
      type: add_additional_object_from_path
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  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7a8d8b20d6ac411389a521454ce74f40.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/52e996a984254e59b0fe6fdc75af251c.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/af273265e0324bc4a645ebad96c254df.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/258e00db46b746b6a97d18299fc1c16d.usd
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      path: object_usds/objaverse_usd/1c78af4bd9784c70bdc920843ff54892.usd
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      path: object_usds/objaverse_usd/b81a12fbdbbf473e8fbc73873cd1b594.usd
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    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/d6ca51e05b9a4d52b6dc6092cb71093f.usd
      type: add_additional_object_from_path
    obj2:
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      filter_rule:
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      path: object_usds/objaverse_usd/c22fd351c47c4f4790fd77a78fc51f6c.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6058092ffe45431eb4484c6360331603.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4823dcf53e804619a219c5a21d11a18c.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/517d9d39ae3643559f10d7927a548bba.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7454d35729114dd2a8abfe8594891ece.usd
      type: add_additional_object_from_path
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      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9d65ca34fa3d432b9372c9cdb60a9a00.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/7d7eb26d49fe41dbaa8fd2758849311b.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/822c012ec4f4427d9f36929db2618260.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c198c7d48d1546c39d98bf40738bdede.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e14fe5eaf90f4269adac750a9cf11fa0.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
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      filter_rule:
      - can_grasp
      option:
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      path: object_usds/objaverse_usd_jinyu_V3/f8a0f212a4984f30a5724b5c1898d2d5.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/ed91875db8ba418485cf52af6619669c.usd
      type: add_additional_object_from_path
  preprocess_config:
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      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0512
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a2dc5b4ab0eb41c49bb2190e9f6f48bf.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
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      wall_texture: false
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        position:
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    planner: curobo
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        random_range_h: 20
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
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      path: object_usds/objaverse_usd/bbaaa148488d473597e80ea99f80c912.usd
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- domain_randomization:
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      path: object_usds/objaverse_usd/2903d7855bfb4164ad6749c1c8c5fede.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/5b84834cf9e846f1b289b2fe8909110a.usd
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      path: object_usds/objaverse_usd/2aa7264393544dc98f7b2e74857e6952.usd
      type: add_additional_object_from_path
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      option:
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      path: object_usds/objaverse_usd/626cbc01b17f49e2bbf8b0a286ffa0ec.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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    - -2.356
    - 0.0
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_h: 20
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        type: global_range
      background_2:
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
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      obj1_0:
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        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/795fed5bd7634836a668b06d8c8501e3.usd
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      path: object_usds/objaverse_usd/47ada0835eb647219ee3e385a8fea1b5.usd
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- domain_randomization:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      background_6:
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      background_7:
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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- domain_randomization:
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      wall_texture: false
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        position:
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    planner: curobo
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  instruction: ''
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        type: global_range
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      path: object_usds/objaverse_usd/8659627809a54d75ab1b81c29d9a4c56.usd
      type: add_additional_object_from_path
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  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0329
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_2:
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        random_range_h: 20
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        random_range_y: -10
        type: global_range
      background_3:
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a28843f21d784fe98cc220ef0d1df478.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/fb6380cbb98547b0abc14f2771e48374.usd
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      path: object_usds/objaverse_usd/f21a43f051f24c3d94bcd412948fd030.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ceebc5cdb527419291eebb388f23866f.usd
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      option:
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/54fdf47eb8f142739fe32864fa8e5dc8.usd
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      path: object_usds/objaverse_usd/2e3eb5fffa9044da981f3102d87bfdc4.usd
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      path: object_usds/objaverse_usd/40f7bac9be754b928f24c52d9f6b340e.usd
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      path: object_usds/objaverse_usd/602a07ce1db24ed5aa0d833c269cc917.usd
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      path: object_usds/objaverse_usd/a08875e41e9f4aa99de5f636e644c9e1.usd
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      path: object_usds/objaverse_usd/ab2c596122b54f14a613b3d54b7191e3.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/3140445236c44a72bf7a17991487b258.usd
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    obj2:
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  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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    random_environment:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      background_7:
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
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      path: object_usds/objaverse_usd/cb887989b19c4342a5648b6754179779.usd
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      path: object_usds/objaverse_usd/e266855601374fbe872ca792a65092f2.usd
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- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_2:
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        random_range_h: 20
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        type: global_range
      background_3:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
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        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/643c1f4119ac44d7884f4d873cb7c3f2.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5015b913bbb248c28c44dd7eb94d66d1.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/2f0834bae0a34394aca0cf81632243cc.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/062b547dbd9a42ce94ff0c94ab9ce3af.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/4b32a7bec1f84ac596ace30455bd48eb.usd
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      path: object_usds/objaverse_usd/fbccbe1a047f421cbfd815dc3682faee.usd
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/c268b7cb334b4d2a8ccfaad3219603b3.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
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      path: object_usds/objaverse_usd/6a575ec757024924b9844d85f3afaa1e.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0196
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c76b988cb4394ecbbe6fecc56261d9c7.usd
      type: add_additional_object_from_path
    background_1:
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      is_not_rigid: true
      path: object_usds/objaverse_usd/ca37b2a37380441d91bbdd54be53a40e.usd
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      path: object_usds/objaverse_usd/7f6e543144fd4bb59472d90442469363.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/d695caf6372e43fbb1cfe13273d32c07.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/4bdaabd27e674c60a0f1fd89be3d073a.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e621a3c13bad4fccbfb92a65148d3140.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/1b13667bf6ef4ff583db26b608b0c50e.usd
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/f2477b1e3868442bb06027341e040b99.usd
      type: add_additional_object_from_path
    obj2:
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  preprocess_config:
  - config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    - -2.356
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0158
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_4:
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        type: global_range
      background_5:
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_7:
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        type: global_range
      background_8:
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      obj1_0:
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9c9f21a0a5404b4083be16376415e7a7.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e0081c37bdfe48b08eeed7abb426677a.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/f11824af7ffa4e0ba012fcc9cda3dcab.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/96ef35ea0f4e4a5b87e8e91722f2c36b.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/aa7d98734c7644f787bff33a5a0e25e4.usd
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/348e4a9916fb41eb94a90ceee14b4284.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
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  robots:
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    - -2.356
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4cabff429ac84eb0881fdebb4b202f68.usd
      type: add_additional_object_from_path
    background_1:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1509b394dcfa4451ba7ebdaf7fc7a808.usd
      type: add_additional_object_from_path
    background_2:
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        min: 0.05
      filter_rule: []
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      path: object_usds/objaverse_usd/d66be869bfc34004b6b72c4467de63dd.usd
      type: add_additional_object_from_path
    background_3:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd
      type: add_additional_object_from_path
    background_4:
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      path: object_usds/objaverse_usd/4a433d5fb6b14616b177c94d48367fa5.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/f2c5b10679c24eefbd3bb04e23061883.usd
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      filter_rule: []
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      path: object_usds/objaverse_usd/c87c165843df4aaa885ff4437d5174d2.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      path: object_usds/objaverse_usd/2a77a1c27b604f038138e16116091ae7.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/44d5052c398248ddb3e4d521cae035a9.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/d7507a0caaec454aa6ebb7f0d6d5a261.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
      - force_top
      path: object_usds/objaverse_usd/49cdc200eaf640489b99ca818165427a.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0058
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/78fe14d4e6f3431686142a9faa75af49.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a5e0295a1ad74ecea016e0ba50871d7c.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/4d1735ef095044209e9ac12e60aec30a.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/77ed5909312443228f8fed16b054a3a5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/43dd26e234e042808532b53e67c5eed9.usd
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      path: object_usds/objaverse_usd/1361d022a4b3434bafec50440f5a748e.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/fb56f8968a9c443897498a9ccf5c46d1.usd
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      path: object_usds/objaverse_usd/3ebfecf376f94fc5aaccf038af8c6a13.usd
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/64402258bbcc4c99b648057f8bd2aed6.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0187
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c3cc85c1926943a386f7c5260d6b069d.usd
      type: add_additional_object_from_path
    background_1:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4018db5a2d5747f2b971e6bb7210063c.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7887360333be4ffeb209f22a840dcb0c.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6458ac945c14458a8e5f4a470495f042.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/31aaafe7d95e4b548bb86a9445754192.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/21cf04a123c242f081f8019aa221f20d.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/58d67796a3bd412894c113a797b3f3cf.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1d4b27a68a4948eaaf676d7c98b236fa.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3ac3415efb2945019eb282778f4d6bab.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/8bab1c3f3fd8441da5870c10b4f5a41e.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/7808e25e62ae458db8cdacfe8fa3b4f5.usd
      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0378
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
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      path: object_usds/objaverse_usd/cd5ad7440a364ff0b30e92200dff63a3.usd
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      path: object_usds/objaverse_usd/fc90c018647c4fd1a3a9f62559bf67f0.usd
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      path: object_usds/objaverse_usd/c5c41d7654de425da0277f9a5599c14e.usd
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      path: object_usds/objaverse_usd/17e2a68603464169b22ea5cdb8572f69.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        random_range_w: 0.2
        random_range_x: -0.2
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      obj2:
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        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/eb9eabb6ec0b4630bc28714a097c9c9f.usd
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      path: object_usds/objaverse_usd/44d5052c398248ddb3e4d521cae035a9.usd
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/450cb265a2124aa7bc45d3a0bc7874d9.usd
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- domain_randomization:
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      wall_texture: false
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        position:
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    planner: curobo
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        type: global_range
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      path: object_usds/objaverse_usd_jinyu_V3/6c7affca797a4bd29edf63c9120248fe.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/a78b73b39d5847ec8072a7f59b90df9a.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0576
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/af249e607bea40cfa2f275e5e23b8283.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e24dedc89f3441c88955ec95be4dc728.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8db2289f777d4e16833b799c65e8a822.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3576b3e274ea486f8ffeeead0259ea8e.usd
      type: add_additional_object_from_path
    background_4:
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      filter_rule: []
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      path: object_usds/objaverse_usd/d93365fe0cf54bac95b60027df67f179.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/7cc6c57715a443c68dfe591f98cc4341.usd
      type: add_additional_object_from_path
    background_6:
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      filter_rule: []
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      path: object_usds/objaverse_usd/ef1af020a06e4398bbaf565b6e606254.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/7959023ecb4941b4adab3c18b0d8d1d5.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
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      path: object_usds/objaverse_usd/212d33f6b5904bed965a87b018325b26.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
      - can_grasp
      option:
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      path: object_usds/objaverse_usd_jinyu_V3/a991699c4a6f4d969af4eb46d9296957.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/4c23ef1cb8d2476cae143f3025be9857.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0362
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/dc639230642845bf8274b836cdecef93.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/bf39a73e496e49f7b3dade4ad8fe39d7.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f9112ea4c15043ebbb24fa121ffef920.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f9d07bb386a04de8b0e1a9a28a936985.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/70cd18ea107841aa9c6c853fa495bdef.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/438fdf2030df4aa7a5c87b8dec784146.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3aa235f727a6456b8170e06a2138798c.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/06e991fb04a246308aaf20e28928d5b8.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7887360333be4ffeb209f22a840dcb0c.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
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      path: object_usds/objaverse_usd_jinyu_V3/a5986b39102f47c5b32b212365dd7276.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/da0ddb490f214ed9a5c4afddad1aea27.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0077
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f420ea9edb914e1b9b7adebbacecc7d8.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/9f55c5fb6ac14005b5ded63d677d0673.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/896eb0323e54480db6d702e48faa0689.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/5d8ee3d4f1f247a4a1e6193b037ba66c.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/775e22047868419886c3f953f3d75c34.usd
      type: add_additional_object_from_path
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      option:
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      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_1:
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        type: global_range
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        type: global_range
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1f05836ad0654f52b0caf8765febfd04.usd
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      path: object_usds/objaverse_usd/4018db5a2d5747f2b971e6bb7210063c.usd
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- domain_randomization:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_angle: 360
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        type: global_range
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
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      background_7:
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        type: global_range
      background_8:
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      obj1_0:
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      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/94006c7196f840ae8e129a79ecb04612.usd
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      path: object_usds/objaverse_usd/e1e74734e7c94fcfa983cfc17966ef14.usd
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      path: object_usds/objaverse_usd/d557073223684759856c7d73cd5a07c9.usd
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
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      table_type: false
      wall_texture: false
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    articulation: []
    goal:
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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- domain_randomization:
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      wall_texture: false
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d557073223684759856c7d73cd5a07c9.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/081115bd0e9a4c3a93f5907a4000a68c.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
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      path: object_usds/objaverse_usd/10906dbf08ca40e49e696d3e667a6dbf.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/452049761827436592b001b9094ae407.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/b57f8db50035400ab91b633c6f9f775a.usd
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    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/8c3af1362caf45feb2e8eb2b6731926a.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/25efa96c3840472b98ac7ab41a4686eb.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      path: object_usds/objaverse_usd/dd2acefa221c446c850ae0d3f04db2e2.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/66373bdcbbf34dc8ac75f625ade74710.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/c0e9a0ceee16472787a61dca1bcec3ae.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/d522403e8c82491bba0f47c05bf8dd6d.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0217
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d44f838c48b748f3b51eab9c830193bb.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7732bb8b71ef49cf9b2690a2230392b3.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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      path: object_usds/objaverse_usd/1ac706fe913547388493572df5c1145e.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/1231d4a31e6c4e64845ca1fae0cf0450.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/eb79a52b8ab74a76899ebbf70b43fc5d.usd
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      clip_range:
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      path: object_usds/objaverse_usd/d6f22918440544dbbc0c35aa796be84e.usd
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/f4a8a7db0cae4e02baba535d6f805da1.usd
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/21bb3c10fec94d1083bcbbdaa704747f.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/2d609d3adf9e49ac945b62b5ce98573e.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0247
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/858f8c952ab74dbd87882e043f78df03.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/77ed5909312443228f8fed16b054a3a5.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/71ca2ea2b6334461bc48afe8da0ba3b3.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d944627e130147a4bd1bc1973ca29b09.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d04258b03896466682ef10f81fd36347.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/43dd26e234e042808532b53e67c5eed9.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4949ac257c7848c7a6c9149218ecfaae.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/54d77ed2b16e48848425a9f36b69bb8a.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d0827a414b0540bbb9fa2d6ff3f38e16.usd
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    obj1_0:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/ff28ef95642c434e996796b528e6d713.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/3acec9687c754522b7de659802e20642.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0339
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5b84834cf9e846f1b289b2fe8909110a.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/0b52980cbfb2482cb8245ddf20e78106.usd
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      path: object_usds/objaverse_usd/9f79ee359a23478ab9d2cc0d0da3fc39.usd
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      path: object_usds/objaverse_usd/341bb6638e5549adb430e48f676eff7c.usd
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      path: object_usds/objaverse_usd/3ed0d34c6eea47fe88fbda2fc3d57b2e.usd
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      path: object_usds/objaverse_usd/80ed3d49bea042799234fd45f0cf72ad.usd
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      option:
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    obj2:
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      path: object_usds/objaverse_usd/9ac792db0d464cd49b1e581569af61ab.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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  robots:
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    - 0.0
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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    object_data_path: objaverse_annotation_refined_container_selection
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
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        type: global_range
      background_3:
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        type: global_range
      background_4:
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c049b6a929654d8dab3a2d896792382f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/b5a58ef69bda4228aa8e149d36c3b3cf.usd
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    type: ccd
  - config:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_7:
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        type: global_range
      background_8:
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        type: global_range
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        random_range_x: -0.2
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/03c5557997e14d92b705cfb29f235b33.usd
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      path: object_usds/objaverse_usd/b791963e9b94432f8e5d2b567ab8256c.usd
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0e5d6fec63714df0b49b3399c59044c8.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/5020b2952c324bb383267a94e120577a.usd
      type: add_additional_object_from_path
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      option:
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      type: add_additional_object_from_path
    obj2:
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  robots:
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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- domain_randomization:
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      type: fixed
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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    articulation: []
    goal:
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_1:
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        type: global_range
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
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      filter_rule: []
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      path: object_usds/objaverse_usd/34315d0e44dc4164946ac1a9afc25ea0.usd
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        position:
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    planner: curobo
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        type: global_range
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      path: object_usds/objaverse_usd/1ff167f84cc64aa0a9aa55ae4691f0d7.usd
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- domain_randomization:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d44f838c48b748f3b51eab9c830193bb.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/1533700516184d9d8350400ff67ac7d9.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
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      option:
      - force_top
      path: object_usds/objaverse_usd/1c8e0c944d7242448d40b6cbb1f4901c.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0243
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8a5b6393546844d4913f0888042b90db.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9449aa66952b4160a3e17a67bfffc570.usd
      type: add_additional_object_from_path
    background_2:
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      path: object_usds/objaverse_usd/8763b698b58549e0a6db84d2e32cc8bb.usd
      type: add_additional_object_from_path
    background_3:
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      path: object_usds/objaverse_usd/c6228b9d762e41b7ad4c5c16cb4420f9.usd
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      path: object_usds/objaverse_usd/73fb3b3315bc478d9068e959ebb1d5e5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/1237d80e466f4c5dbf53b1302ddbca1f.usd
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      path: object_usds/objaverse_usd/5c32d55b8cc8482588d759e13e0a2d88.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/96063f5197ce4a30adffbb5bc052c809.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/ec8a106f32e04f05b722f20ef4b45bcd.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/3b1ae1ad437c45388efcdcbb05c51c4f.usd
      type: add_additional_object_from_path
    obj2:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/c737dcaa92a74959a6dbf73ce9f6f80c.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
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    - 0.0
    - -2.356
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0092
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e8a54da09d964b3e8abe951d5d83fb59.usd
      type: add_additional_object_from_path
    background_1:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b2b3622f96464f23bf3c3c0b10950194.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/450aa567ad4141398fb33d3f2cdb2c3f.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/50ec3232e4ee4100a5f1ccf4acc4018c.usd
      type: add_additional_object_from_path
    background_4:
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      filter_rule: []
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      path: object_usds/objaverse_usd/9a2c379684ed4ceb849d97a473c21e2c.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/3aa235f727a6456b8170e06a2138798c.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8db91efc58a0434781d169e1bf4b3e8d.usd
      type: add_additional_object_from_path
    background_7:
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      path: object_usds/objaverse_usd/66f9b6a5787d49c88b87bf01ba069a0e.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
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      path: object_usds/objaverse_usd/9408edd069d74261a1093ddb1d5eb6f5.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/3dd8ef4d52e2446c82346a93f460a0a8.usd
      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
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    type: ccd
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/727d22bc8fc44038a5a68827db386a52.usd
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        type: global_range
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        random_range_h: 20
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_angle: 360
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        type: global_range
      background_8:
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        random_range_h: 20
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/69e9188b8ea64785b39f397966a7a94d.usd
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      path: object_usds/objaverse_usd/9cddc307acca4e9f81a5d849d45f0c36.usd
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      path: object_usds/objaverse_usd/5df3c782d2b64884aaef0877abff8cf6.usd
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      option:
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0008
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
        random_range_angle: 360
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      obj1_0:
        random_range_angle: 360
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
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      path: object_usds/objaverse_usd/e24dedc89f3441c88955ec95be4dc728.usd
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      path: object_usds/objaverse_usd/89991057aba34433a77425141b3ba35e.usd
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- domain_randomization:
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      hdr: false
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      table_type: false
      wall_texture: false
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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- domain_randomization:
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      wall_texture: false
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
  layout_config:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/33c4622dfcc04685aa86c8b06abbe11f.usd
      type: add_additional_object_from_path
    background_1:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/52e996a984254e59b0fe6fdc75af251c.usd
      type: add_additional_object_from_path
    background_2:
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        min: 0.05
      filter_rule: []
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      path: object_usds/objaverse_usd/6699ec3ad26b4d5895e06ee82f7633a9.usd
      type: add_additional_object_from_path
    background_3:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c45144af966a44c4b242b1e2fdbfdb29.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/e08e87eff7b04c8bbbb624154b70b609.usd
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    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/354c05cae07c42cd8ecf2b00373cc77b.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/7a8d8b20d6ac411389a521454ce74f40.usd
      type: add_additional_object_from_path
    background_7:
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      path: object_usds/objaverse_usd/7a1de8e4e9ed43aea81ea8d12c680948.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/ce6d8454a19b4e1a99f8fdd102c236a2.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
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      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/d1f7eb494efe4bc098a03aea67911d23.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/cdd418b9eac648e3857dd44b2492a93b.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0513
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/af249e607bea40cfa2f275e5e23b8283.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/212d33f6b5904bed965a87b018325b26.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/f8e67bafae6f4f38a45619edf080b8c8.usd
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      path: object_usds/objaverse_usd/a57204655044471f84d2e00448aeb97f.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0390
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4bdaabd27e674c60a0f1fd89be3d073a.usd
      type: add_additional_object_from_path
    background_1:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a6ac36e6a5ec452cad3012aa12ee9cfe.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4468f073d6764a8f972b8abbecf20b40.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/24e08392fa484f9b8de902982eded814.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ac1c4812513a408cbe1b8bea3ce517fb.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f1018bef8ced4fd282a8b94ccd2a91b2.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/eb167acc4621447fb3e20cc97ac76262.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/f42e615de5634df0af5550651f7272fe.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c76b988cb4394ecbbe6fecc56261d9c7.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/bd7d993037a9473e99d380944c7bf5a1.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/c4a85fc7317f45949da909f983efcde1.usd
      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0099
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3ff33f5baae24b9eab100442fce797e7.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8c262e6fd86d442ab0fa4b37ab46223e.usd
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      path: object_usds/objaverse_usd/7cb872b9fc9e4ef9a6e0033fecc161d8.usd
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      path: object_usds/objaverse_usd/16490ee439a54008afeeefcf53d8d051.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/cad1f142f68c43a4b8c4713dce62eccf.usd
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      path: object_usds/objaverse_usd/f1ae3a5ec7a14ae68a274df2e72a012d.usd
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      path: object_usds/objaverse_usd/b8a709a4b82a4fb7b545fe178f8f46df.usd
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      path: object_usds/objaverse_usd/5e5a1b8c93cf415c894d94a81811fc2b.usd
      type: add_additional_object_from_path
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      option:
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/d4ee1942949e4da3ab17f5acc5fb8d2f.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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    - -2.356
    - 0.0
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    - 0.0
    - 0.0
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b10a51c43ae64d75a499f875062d719e.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/01a3637459644eaca392bb1ee521ad24.usd
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        type: global_range
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_6:
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        type: global_range
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        type: global_range
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        random_range_h: 0.35
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/62c8d984df1f42929427337c975ce3fe.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/dd8fdc8d682e469792d432389344a49a.usd
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      option:
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      type: add_additional_object_from_path
    obj2:
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      type: add_additional_object_from_path
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  robots:
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_1:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      background_7:
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        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
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      path: object_usds/objaverse_usd/233c4548c26d4b66a54d69db0ea18da4.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      wall_texture: false
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        force_fixed_grasp: true
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        position:
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    planner: curobo
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        random_range_h: 20
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
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      path: object_usds/objaverse_usd/c8027aa24f614ac2acdf76037814b3ee.usd
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- domain_randomization:
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- domain_randomization:
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/6911c8e2419242f69574bbc748a73793.usd
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      path: object_usds/objaverse_usd/c780af86b1eb4eaab565f52f3eb22206.usd
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    type: ccd
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_h: 0.35
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        random_range_x: -0.2
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      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
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  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/cce68f42b316473cb92e5f18a80c38dd.usd
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      path: object_usds/objaverse_usd/ca0b60de05094a3785a03e8d67a5adba.usd
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- domain_randomization:
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      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/66d86d4535514eeb878eba59f483c000.usd
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- domain_randomization:
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        position:
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        type: global_range
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  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0253
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6a8e4c5e65d347738d4b821e211d6c56.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/258e00db46b746b6a97d18299fc1c16d.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/4a87dafd597648dc98d18f89d73016f7.usd
      type: add_additional_object_from_path
    background_3:
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      filter_rule: []
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      path: object_usds/objaverse_usd/52e996a984254e59b0fe6fdc75af251c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0ab534c493e14f67bac01ee94f20e43f.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/1c78af4bd9784c70bdc920843ff54892.usd
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      path: object_usds/objaverse_usd/d7beee9e9ed348ebae7e3b9fa09b7136.usd
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      path: object_usds/objaverse_usd/33c4622dfcc04685aa86c8b06abbe11f.usd
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    background_8:
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      path: object_usds/objaverse_usd/9e0a989a5aee4ecda68e08b62552a799.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/f1a0e1c30965471aabfe64764184dca8.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/3188a1d863f246f49457bb63035e37db.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
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    - -2.356
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4404e96d80fe45daa550cd0b1345cd34.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/337da284686a42f79c52918d862e95c8.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/d182b8ab86ae4176be6a0d2be144392c.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/922c343feeed4be89dc9ebb9d7c86e85.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/c780af86b1eb4eaab565f52f3eb22206.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/a320dbe2032b4a2e86cc2adc9a76b1a2.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/db7970d542994fdfb9088d021eed9232.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      path: object_usds/objaverse_usd/8a21e84b6782413cb47e031f68dfba9e.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/6911c8e2419242f69574bbc748a73793.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
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      path: object_usds/objaverse_usd/ac5b67af3ede4449a971355b60b3228a.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
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    type: ccd
  - config:
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_4:
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        type: global_range
      background_5:
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
      background_7:
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        type: global_range
      background_8:
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        type: global_range
      obj1_0:
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/9d7aad765295411fa28f08cb93e599b5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/19d8d64d87c54e5ab6125daf61118a71.usd
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      option:
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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  robots:
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_h: 20
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        type: global_range
      background_2:
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        random_range_h: 20
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_8:
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        random_range_h: 20
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      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4949ac257c7848c7a6c9149218ecfaae.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0acd64ac02fa44bc824d7f708fe71853.usd
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/c7b2dbbd0b8a48e7b93656de8ccf717e.usd
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      path: object_usds/objaverse_usd/54d77ed2b16e48848425a9f36b69bb8a.usd
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      option:
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    obj2:
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      path: object_usds/objaverse_usd/74c95870e2a141a9903815715d25b8a7.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
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    - -2.356
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/68a23aa70dc84a9a8d27f902a9b3b5e4.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/673dbc21651f432aabf7788b2d0cb8e3.usd
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      path: object_usds/objaverse_usd/4439c850502f44cba52c763af6983b55.usd
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    obj2:
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    type: ccd
  - config:
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  robots:
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_3:
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        type: global_range
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      background_5:
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        type: global_range
      background_6:
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        type: global_range
      background_7:
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        type: global_range
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/c2a66c76348b493196e765361b30b82f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e6871d08d03d4e4083cf4653fcd3744e.usd
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/425a4150ebbd4b5b9cd3cfbcfa0c85ac.usd
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      option:
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    obj2:
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      type: add_additional_object_from_path
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  robots:
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_2:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
      background_4:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/84a1bf68e96f4b1fa2cae12182d09579.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd
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      path: object_usds/objaverse_usd/4a433d5fb6b14616b177c94d48367fa5.usd
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/fd813c521a3d4c648806050b7de0da0e.usd
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      option:
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    obj2:
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      path: object_usds/objaverse_usd/69f32fd6456041c9b37fef8f254efcdb.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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  robots:
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    - -0.785
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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    object_data_path: objaverse_annotation_refined_container_selection
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        type: global_range
      background_4:
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8aa5cf5a69264e07b2ad4a8f754a824d.usd
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      path: object_usds/objaverse_usd/01994d08f4834acd9734f1a4281570d8.usd
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    type: ccd
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  robots:
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- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/ff952a9d9cae4d26a178ad74e099e96b.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/49add91ed5874ca590fa137ca2029353.usd
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ed39b0d0c02f4be5b406314afd9c89a9.usd
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      option:
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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  robots:
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_3:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
      background_6:
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        type: global_range
      background_7:
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        type: global_range
      background_8:
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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    planner: curobo
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        random_range_h: 20
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        type: global_range
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    type: random_custom_tableset
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      path: object_usds/objaverse_usd/9b2530fa45e347a58c4fb7ea171d936a.usd
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- domain_randomization:
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- domain_randomization:
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      wall_texture: false
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        position:
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    planner: curobo
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      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/d62cdacba902477ea16ad2268627fdf4.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0365
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ce3c0bc29dbe4b07acdf068c18d4f603.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5a2e0fdbbc5c4122873988a15cbc0c39.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f015375273454101a6a0cbd7e5a33c76.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1eb5666b3c344be6994dadbecdf60a4d.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b8dee2c7c5ed45d79713cd74df8268f2.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8cc60d44baec49558156ac767839c2ed.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4501facdf474495897674bb1e9480e9f.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/27c2ce040b384588a3b111318cb7e54d.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/02fc51739d7b4d759fd25c56fc52c389.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/6557b2d4da1e4ad082528035adf24db2.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/00642d469eaa4b8f9a86abd68e1cc769.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0239
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f30c5bbb75ec4639beec552a6f2a1fd6.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/450cb265a2124aa7bc45d3a0bc7874d9.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f0d6ae4ab8494b51b3bd9a5a766a6935.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/72a3f17f6d0245ef9b047ff813c6f647.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b2e124de7de44935ba847d4e45fab6d7.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7c05f39785914133a20dedbd0785bdb5.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7015b362deea4ee0b2000984c7b871e9.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c70e67c11c934fb5b2aa5cc510220ab8.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2cdcce5cff3d4aca9cb8d939137f0539.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/f95844e4694e49288e5cd58f6e1c2cef.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/63c3595a0f344820b2e1d7d0b8a025b0.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0100
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/92d6c1e43d744566bde8a1f7e6742157.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4c5ff184b00d491eb569195c2ae17468.usd
      type: add_additional_object_from_path
    background_2:
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      filter_rule: []
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      path: object_usds/objaverse_usd/5d35a6a8e39b4c0a89b53be0bfb57ecb.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/973aca271701469d89b546000d7705f4.usd
      type: add_additional_object_from_path
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      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/bab959d880a0498c8276424d0463695d.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/49883c6c218640f1bb3e62d7bc2280bb.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/eec291dcc28c4395a0ec97c84923f89e.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8fd013e4352d4aa591287799b452a1cb.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/6598a733446a4cd68186db5c8410a2c3.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/638fc15fedce42c2ac85f1feed724eb0.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/ad4e96c9e7e640069e5c93c43619806b.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6145a63d33f441b6bc7649166d3b0324.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8c264ff20e734c1caa4d23c491ea0abe.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1c97155112554d92930dfe2e1995d067.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/fbccbe1a047f421cbfd815dc3682faee.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4b32a7bec1f84ac596ace30455bd48eb.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f8ccd75e8c2648ffbbc9e6208ed919c1.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1a696d67cf004c9dadc56fc1cd2cf746.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5c18437f4d824b9ebc5b555ec67a90e4.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f59e59ddee214b408227dfc67fc96606.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/14f5b8ed45da4450b5c3f606a59e64bd.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/6a575ec757024924b9844d85f3afaa1e.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0383
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/349f07ecd7704df6b4e7112037f72af2.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b4549bbd518c4deba0d62e33585764f1.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e1f96691aaf648b885d927f5c3f5be61.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0c55bd8e29384070a72c33ef744d11be.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5b0f899599b94cc5b5709e72a46ae51c.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/fae08c03cc75437c811f50426a81ac30.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/78948b205b93481a8bd85497db98964a.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8f3213a022a54a1aaeae3b8a25e59713.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/db4f0a943cb94220a8000794cdee22fc.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/3ef74b2ed60c4a6a808a595618908aa0.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/eee7a5bda96b48618eb3ee9fac3af71f.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0007
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6c382b3630d34ac2883b3112483eecd7.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0b52980cbfb2482cb8245ddf20e78106.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/31263bb85c694ff3b72f51fd96470893.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4171d02e4e1f40eeb873a462cb978f0c.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/28a203c1ca3c41ca8a45ae79b0d8509e.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1294ff3e79734ee9b1c2c42071a4ac07.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a847a835995a4d91a61f45c9e42f7a1a.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/80ed3d49bea042799234fd45f0cf72ad.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3f0ee2dce6434bcdb76c4369a5f97e2d.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/7c785e193fbd42d18c92e7c129b15cd4.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/ca31c4bb63104cde93de36a1d656619c.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0047
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0f2b2014bb0945ea91ab650934ba6a49.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/f5a15ee9d42b4154b8e66541b9ae1a0f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/f9d07bb386a04de8b0e1a9a28a936985.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/145cb0b388384ff48845320486129a03.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/70cd18ea107841aa9c6c853fa495bdef.usd
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      option:
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
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        random_range_y: -10
        type: global_range
      background_3:
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_w: 20
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        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
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        type: global_range
      background_6:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/04c5b327e3bd4caab6950939bf5bf739.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/ab3ea86bb5f945c89889c1d333f55c0d.usd
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      path: object_usds/objaverse_usd/7416f0f3e04c48d1af25778171256341.usd
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  preprocess_config:
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    type: ccd
  - config:
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  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
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        type: global_range
      background_8:
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        type: global_range
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/07b07f7292ed41019a8b6aebd98a5c29.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      option:
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      type: add_additional_object_from_path
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  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_3:
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_angle: 360
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5d89c32cb3a34bb29b1b444ed553ce28.usd
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      path: object_usds/objaverse_usd/2e3eb5fffa9044da981f3102d87bfdc4.usd
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      option:
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    type: ccd
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- domain_randomization:
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      hdr: false
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      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      background_7:
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        type: global_range
      background_8:
        random_range_angle: 360
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
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        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4b32a7bec1f84ac596ace30455bd48eb.usd
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      path: object_usds/objaverse_usd/7f976b9492d14f86babc00760a185a13.usd
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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    articulation: []
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
  mode: manual
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      filter_rule: []
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      path: object_usds/objaverse_usd/d3f2cdeca74f4e8eb852dc4fb8073a54.usd
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- domain_randomization:
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      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ca61b4d52dfe4c85882c2b72a8a8c36b.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/c1e15ee7a3d64fb98924928fe45741cf.usd
      type: add_additional_object_from_path
    obj2:
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      option:
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      path: object_usds/objaverse_usd/55c4bc9678da4f7e817e9b10220715ec.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0002
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_2:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/775e22047868419886c3f953f3d75c34.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/c32b9e95b95e4b779351cd7d926a1031.usd
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      path: object_usds/objaverse_usd/280606599f7744a28898b6d1d18f879b.usd
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    type: ccd
  - config:
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  robots:
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- domain_randomization:
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
      background_7:
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        type: global_range
      background_8:
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      obj1_0:
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/66b4fe511ade44a8886232f07608358c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/fdb17b0ce0ae4bb9a896de87dea86d75.usd
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      path: object_usds/objaverse_usd/d0827a414b0540bbb9fa2d6ff3f38e16.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/1361d022a4b3434bafec50440f5a748e.usd
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      path: object_usds/objaverse_usd/fb56f8968a9c443897498a9ccf5c46d1.usd
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      path: object_usds/objaverse_usd/3ebfecf376f94fc5aaccf038af8c6a13.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/d944627e130147a4bd1bc1973ca29b09.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/78fe14d4e6f3431686142a9faa75af49.usd
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      option:
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      type: add_additional_object_from_path
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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    articulation: []
    goal:
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0539
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d19d3d8be0b4483f84f79ed4329479cf.usd
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      path: object_usds/objaverse_usd/2f63c2fdd7e245c491590b69b5c3d0fd.usd
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      path: object_usds/objaverse_usd/5222cf9dedae4a31882281f6d7bada89.usd
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/1bb0cf7261174670ad1134093875e1d1.usd
      type: add_additional_object_from_path
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0588
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
        random_range_angle: 360
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      obj1_0:
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      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
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      path: object_usds/objaverse_usd/6b3eabdc946748c2b669a849d194385f.usd
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- domain_randomization:
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      hdr: false
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      table_texture: false
      table_type: false
      wall_texture: false
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      robot: 0
    articulation: []
    goal:
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
    goal:
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        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3140df3043634af39652529e9234561f.usd
      type: add_additional_object_from_path
    background_1:
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        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/82ffbd3663d74c62a1d7b0f16029cf56.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/678cb3e851a042209cc2f472c4c3dee3.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e4d64a769c844a07b5bba41170c64c60.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5cc7a99302964b229921aa445a1fcbb8.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/a83cded96c744513ae3482817bfef0a4.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/f068f347aa404aa5a9795c17fab66346.usd
      type: add_additional_object_from_path
    background_7:
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      path: object_usds/objaverse_usd/36c7d2d215f34b30b99911ec3ff63c04.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
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      path: object_usds/objaverse_usd/ddbe95af5a0b4220998a000b5e54f65d.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/f6bcf414b20244f593a44484d961006c.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/7f39b77440c4416cab9dbba79f3262a2.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0104
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f5a15ee9d42b4154b8e66541b9ae1a0f.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3b63269c27024f29868b8f94c9930419.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/dfd9f7c43f2e499d88b573cd93cd5ae3.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a77f8c86090042c1973db829e3fb8b1e.usd
      type: add_additional_object_from_path
    background_4:
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      path: object_usds/objaverse_usd/06e991fb04a246308aaf20e28928d5b8.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/5750c153e7134812b28511edd18930bc.usd
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    background_6:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/3aa235f727a6456b8170e06a2138798c.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/878b53597a8b4f058bb67b7e3fb42274.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f9112ea4c15043ebbb24fa121ffef920.usd
      type: add_additional_object_from_path
    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/92d860248fd84079978b0a2d1a4100a8.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/24ceded4bbe64dedbfdefeca8ce73141.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0053
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/eee4d3bdc5734cf6891db41e098e7cd4.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/343edd0babf743ba9fd43f99182d998d.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2ea85fec1d3744fda5e00337aabc62be.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/52c9fb78ff704faa821d193543ae2cc7.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/517d9d39ae3643559f10d7927a548bba.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e14fe5eaf90f4269adac750a9cf11fa0.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/822c012ec4f4427d9f36929db2618260.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5832ef06058b4e949828533ef511c33a.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7d7eb26d49fe41dbaa8fd2758849311b.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/0c55bd8e29384070a72c33ef744d11be.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/a37158f20ccf436483029e8295629738.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0325
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0be224499da94192b4c6a7fc61d21f95.usd
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      path: object_usds/objaverse_usd/f1ae3a5ec7a14ae68a274df2e72a012d.usd
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    type: ccd
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_angle: 360
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
        random_range_angle: 360
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ef9c7c894f26450d9f7a33eba715c96f.usd
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- domain_randomization:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
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      filter_rule: []
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      path: object_usds/objaverse_usd/2c1eb3eaa58d4d60b0fbdd38a08833d5.usd
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      option:
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- domain_randomization:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/d782b8581473412a831eaabe4535c495.usd
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b8da6115fe014a8bb023508e9f4b07b0.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cf0ad35c672b4ff9a98c8627ea6bb55c.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/10ac5e64861a4cb4868a244d08496b97.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/e83a068816b64c38b947abbee973b202.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0145
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
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        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/49f4c886cc78423eb3713add6e242c39.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0c91407e7cb54d3c9c4235fb868e9eae.usd
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      path: object_usds/objaverse_usd/fc90c018647c4fd1a3a9f62559bf67f0.usd
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      path: object_usds/objaverse_usd/571c44141267435a81fdc197719109aa.usd
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      path: object_usds/objaverse_usd/c34893d7ef90490b8d65d87753aad8ad.usd
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      path: object_usds/objaverse_usd/5a5af0a596be479f9ec4d0f27aafa6bc.usd
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      path: object_usds/objaverse_usd/4dd64ee00ff94f7488ff7793c74a8cdf.usd
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      filter_rule:
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      option:
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    obj2:
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      option:
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      path: object_usds/objaverse_usd/f62314240a0140a89e29119829aec000.usd
      type: add_additional_object_from_path
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      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0f1747d09f2d4c33b20d5ae19ff3bdbd.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/5015b913bbb248c28c44dd7eb94d66d1.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/4b32a7bec1f84ac596ace30455bd48eb.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/168642e65e2e4c618426284bd1a29640.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/062b547dbd9a42ce94ff0c94ab9ce3af.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/b11676c2a21d4d8081fa800d75dfd149.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/3868fdd382af4879b5e6d242a208e482.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/7f976b9492d14f86babc00760a185a13.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/f59e59ddee214b408227dfc67fc96606.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/40949184dcbc4d5cba5f115b1c0dcf6f.usd
      type: add_additional_object_from_path
    obj2:
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      type: add_additional_object_from_path
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  robots:
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  table_uid: aa49db8a801d402dac6cf1579536502c
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- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0569
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7732bb8b71ef49cf9b2690a2230392b3.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/06bf1edc7a7b4a3486dae576df1e9121.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1ac706fe913547388493572df5c1145e.usd
      type: add_additional_object_from_path
    background_3:
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      filter_rule: []
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      path: object_usds/objaverse_usd/10965a1ebcd64aa8b5dbafce0c7926a2.usd
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      path: object_usds/objaverse_usd/9bc9fd0a8f7a4eb8973cab637cad96ea.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/eb79a52b8ab74a76899ebbf70b43fc5d.usd
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      filter_rule: []
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      path: object_usds/objaverse_usd/696b288fb1074408b235699d6fe525bc.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/2c1eb3eaa58d4d60b0fbdd38a08833d5.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/0ab607e3a1d848768798c8a40988508e.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/b0f3ccafd4d04d7d9bd4cb247dc1a34a.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/a5588c0e88cc47f38d21d6d345f891db.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0212
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ff952a9d9cae4d26a178ad74e099e96b.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7b448bc237354fd98f039fede151571a.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/39aa6117594a4e29a93eb840e297df7b.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/20ab527971cf4892a35b97471a786ba5.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/49add91ed5874ca590fa137ca2029353.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/31bfc2fd8eeb4751bce9c1895af85d2e.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/15afd84d8761487abebdb0fcdc9ce506.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      path: object_usds/objaverse_usd/bb2bb7b8e83649c6b32dd8b19a6a14ee.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/b2d9a692c15e4ad980c384fe2d6a8f8c.usd
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      option:
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      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/570bc55394744fe481863431259da3fe.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
      background_8:
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f2ef719daead4527bffbb11ecb01ea7c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ea52f1800e814b7eb9df555d8cf46725.usd
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      option:
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  - config:
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  robots:
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    - 0.0
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    type: franka
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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    planner: curobo
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        random_range_h: 20
        random_range_w: 20
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        type: global_range
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    type: random_custom_tableset
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      filter_rule: []
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      path: object_usds/objaverse_usd/6cdf92c021184e48853ff4c89fabdfc6.usd
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- domain_randomization:
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      wall_texture: false
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/7d4cf08c9750498cabba8cb4b4dc2c7c.usd
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- domain_randomization:
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      table_type: false
      wall_texture: false
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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- domain_randomization:
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      wall_texture: false
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/349f07ecd7704df6b4e7112037f72af2.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/90f6999599aa4f8c8c340ceeae0d3c02.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/78948b205b93481a8bd85497db98964a.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8f3213a022a54a1aaeae3b8a25e59713.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/5df3c782d2b64884aaef0877abff8cf6.usd
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      path: object_usds/objaverse_usd/939328f7b4514e49a177548112d7a950.usd
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      path: object_usds/objaverse_usd/ca61b4d52dfe4c85882c2b72a8a8c36b.usd
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      path: object_usds/objaverse_usd/bf1367c61bf14ee98bb3675a548835c5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/b4549bbd518c4deba0d62e33585764f1.usd
      type: add_additional_object_from_path
    obj1_0:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/fe1d59bebff84f3a87aff400af5e6d31.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/613fc896899349e4911ccce2f94e63ee.usd
      type: add_additional_object_from_path
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      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8d3e568f059244e19f3b5f7e789cccb2.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/31aaafe7d95e4b548bb86a9445754192.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/5afaf3ae0c6d496e94f9ba733e0042a7.usd
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      option:
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      type: add_additional_object_from_path
  preprocess_config:
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      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_4:
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        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3ec38868fa9947328e2d0f80a8be51db.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0ba6c4545fe14f0d9b8406ff030fd042.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/c1a5af37b3ac4ac9bbb2754f2f971df8.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/c6f3714d4bec4c019e21d17a88afea46.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/806e841289804bffba1c89757582f0ca.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/082c4a136335491ca975ea0fed9bfa78.usd
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/e5a5abca5a7c49f193d6cf22a06c3ca3.usd
      type: add_additional_object_from_path
    obj2:
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      path: object_usds/objaverse_usd/b8d244304c0a4a869e08d098949cf11c.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_3:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_6:
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
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      path: object_usds/objaverse_usd/d9947bedcdce4cf084f4a79abe2e4bed.usd
      type: add_additional_object_from_path
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- domain_randomization:
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        position:
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        type: global_range
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    type: random_custom_tableset
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      path: object_usds/objaverse_usd/eee4d3bdc5734cf6891db41e098e7cd4.usd
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- domain_randomization:
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- domain_randomization:
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      path: object_usds/objaverse_usd/a6995104b99c4399a20bc4e0031fbf8b.usd
      type: add_additional_object_from_path
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  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0103
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
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        random_range_h: 20
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        type: global_range
      background_2:
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        random_range_h: 20
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
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        random_range_h: 20
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c1a5af37b3ac4ac9bbb2754f2f971df8.usd
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      path: object_usds/objaverse_usd/5bbdefa4234c4a6fab4e8de8b1ce6d30.usd
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    type: ccd
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- domain_randomization:
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    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_y: -10
        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      background_5:
        random_range_angle: 360
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
      background_7:
        random_range_angle: 360
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      background_8:
        random_range_angle: 360
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      obj1_0:
        random_range_angle: 360
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      filter_rule: []
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      path: object_usds/objaverse_usd/d5880c5272294a908cd65431840b69d5.usd
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      path: object_usds/objaverse_usd/6c0aad2ebcf44aedba8b0332b5f5ea5e.usd
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- domain_randomization:
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      type: fixed
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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    articulation: []
    goal:
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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- domain_randomization:
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    random_environment:
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      robot_eepose: false
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      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_1:
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        type: global_range
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        type: global_range
      background_3:
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        type: global_range
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        type: global_range
      obj2:
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0549d65fc59a45618d6e3d542cbfa5b8.usd
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      path: object_usds/objaverse_usd/228b7a8abfae4e6a8dca781c0feb0a7f.usd
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    type: ccd
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- domain_randomization:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        type: global_range
      background_2:
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        type: global_range
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
      background_7:
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      background_8:
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      obj1_0:
        random_range_angle: 360
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      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/6598a733446a4cd68186db5c8410a2c3.usd
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      path: object_usds/objaverse_usd/8fd013e4352d4aa591287799b452a1cb.usd
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/8afccda6a86743368429e4271348ddc7.usd
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      option:
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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- domain_randomization:
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      type: fixed
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    random_environment:
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      hdr: false
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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    articulation: []
    goal:
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_1:
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
      background_3:
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        type: global_range
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        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9dc563087ac64563ac8511a1e7d90d24.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a6193c4a6e4547d19060b8e120dcc377.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f292513de086471e9dffff684d130e4a.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f8acb278729a42199028e6c7e875be56.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c0c718fb01e8452bbcab5e7058891372.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b6d02e01fb8f49d6b9486db48b50a9e1.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1dd7467ee6b947e6b6cd03368c00a8e1.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f1d328dc5d49429e8b381ca3c38a25c4.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/922f4990d2c34b3693a373856bb516bf.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/0ef2df76b5d04c75b4d612a505ad260b.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/44eef02ab604448a85423d810fda46f4.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0377
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/435077bef9dd48d6a5cee72dd1f4a4ef.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/413e20559a1a45e7bc2e873946b78d22.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3efcb43ee0de4232aef63b7411c8de95.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d746c8d359204de2a8d0c991cee677c6.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/eef2f5ce5d2a42a5898fc5ddb3b6d536.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
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      filter_rule: []
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      path: object_usds/objaverse_usd/cddd741895e6405c98de8501461c8bbe.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/68a23aa70dc84a9a8d27f902a9b3b5e4.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ca61b4d52dfe4c85882c2b72a8a8c36b.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/bf1ef1e7852a40ef82efdc73311103d0.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/efbc8da1b1c2411d9162df959904e0bb.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/c737dcaa92a74959a6dbf73ce9f6f80c.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0129
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3ab147acc5604ed4b76943cf99504a55.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a40f7f2a9f2843b38ac9ee7b26365b13.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f015375273454101a6a0cbd7e5a33c76.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f3512126d36a4630893585f1ee2e44d2.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8d379e0e7edf4b9b82258c024c634618.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8cc60d44baec49558156ac767839c2ed.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d18b2372cbb44c62adb627050af6587d.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/53ea3b41f92c475295367c1096538573.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4afaddf0129d4aaab7947116bb1c89dd.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/5e76452dfe1146c4878a0368e9548bf2.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/bb15db3af44f49108442bd6af9954822.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0207
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
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  mode: manual
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      wall_texture: false
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        position:
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    planner: curobo
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        random_range_h: 20
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        type: global_range
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    type: random_custom_tableset
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      path: object_usds/objaverse_usd/786f0f7630bc4d7caddf76a1489a41a7.usd
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- domain_randomization:
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        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/3e5393bd35e34531a576e22d45611060.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/eee7a5bda96b48618eb3ee9fac3af71f.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0024
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3d6d2d274b5e4d61b3d78aff5ec2ff5e.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8aa00644caed4e57837b2deb98ecca0c.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5f4c74fe57ad428ea6ec4c2412faa816.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9d7aad765295411fa28f08cb93e599b5.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b8da6115fe014a8bb023508e9f4b07b0.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cf0ad35c672b4ff9a98c8627ea6bb55c.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e70c19f7a5e445ef97214f95f42f2a4e.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/44d7675cc83d45149c6a48f95c891bcb.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/371011a1dbd34742bc0fa6ef72f335b6.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/95b7126966c9479ea992f27ecadf5f1d.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
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      path: object_usds/objaverse_usd/cdd418b9eac648e3857dd44b2492a93b.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0280
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f0f8084ba15d4a529e76a3037b553070.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6dcf6587c3234d47993dd79df008f4ac.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cfc49bcb02134ecea34f4fda58f00590.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/95e7150f77d0456b8132e90e5e12cc34.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7aa3640350c84c61a9e0600ae7b5fee3.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/59a2e158cc9742d3b4125c758170a350.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a880b66d3afe4c398d09817370552f48.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c049b6a929654d8dab3a2d896792382f.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e266855601374fbe872ca792a65092f2.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/9346f47705eb459eb4a20153ccedf771.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/ccfc85f3489d4024aacd272b944a39c6.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0180
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7959023ecb4941b4adab3c18b0d8d1d5.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cc0099a687194a31a052ac761f5fdfea.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8d28b4123c6641b19c6557cf8f2f80c6.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/01994d08f4834acd9734f1a4281570d8.usd
      type: add_additional_object_from_path
    background_4:
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      filter_rule: []
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      path: object_usds/objaverse_usd/943c9ae8351146a2abcdbe2866ec1e2c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ef1af020a06e4398bbaf565b6e606254.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8db2289f777d4e16833b799c65e8a822.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/e24dedc89f3441c88955ec95be4dc728.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ef9c7c894f26450d9f7a33eba715c96f.usd
      type: add_additional_object_from_path
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        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/58f8f8e2d4434cc0b0b2e6e7f47cc354.usd
      type: add_additional_object_from_path
    obj2:
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      option:
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      path: object_usds/objaverse_usd/6b8ec1b507964b4e820b3069e72bf167.usd
      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    default_joint_positions:
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    - 0.0
    - -2.356
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0269
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e20277f803644eb4babe3fe649c85ee8.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/25868b8d5c644516a8a48a80f1f86491.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/69e9188b8ea64785b39f397966a7a94d.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/19db2a66d51e489981f0113842627b0b.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/db4f0a943cb94220a8000794cdee22fc.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5b0f899599b94cc5b5709e72a46ae51c.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/902f3c14e5674989b3006665b2c16181.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8f3213a022a54a1aaeae3b8a25e59713.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/939328f7b4514e49a177548112d7a950.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/fbecd3d497594041a5170e24d2d6bf40.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/49f8c88f40654f60898fbc36343a52b9.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0012
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/edb5cf6ef4924978b578be417d7e467d.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/efb3ef63a12c4b16b5ac0f66bbdf705d.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f1208cb6595642629c5f99627fce27cd.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/939328f7b4514e49a177548112d7a950.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1c5fb857819e4022910b8fc0ef409318.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/eabea9d09348419a810c154fab584f3d.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ad5a23c549cf490e905f928cf9ad3b99.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/533212e9f5fd45979013087b7dcbeef5.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/082c4a136335491ca975ea0fed9bfa78.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/c6a403de625f4a49b6a162f8cc22e0b3.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/83bdabc8afd940439b1287236a460eaf.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0197
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f2ef719daead4527bffbb11ecb01ea7c.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0de1fdd544c3438094edbbe1b01cf391.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e2edad6f9182459c93e7051dfe9d5a0f.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1878341a4ac34cb49896188da4169c95.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2aa3eda5dc9c4dda81905e0e451901fe.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/aed8f06b46e34f90baac815cc85f4406.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cc6975f7d2334419a9e9d7f48446ab0f.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/062943f3da5d45eca2ee3d40a1b876ff.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/583dc574a5654b34a39b6deb11ec535d.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/921a6a8572e04117906c55d178c37e90.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/ed91875db8ba418485cf52af6619669c.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0114
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
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        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7f6e543144fd4bb59472d90442469363.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/a6ac36e6a5ec452cad3012aa12ee9cfe.usd
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      path: object_usds/objaverse_usd/c76b988cb4394ecbbe6fecc56261d9c7.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/795fed5bd7634836a668b06d8c8501e3.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/ac1c4812513a408cbe1b8bea3ce517fb.usd
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      path: object_usds/objaverse_usd/f1018bef8ced4fd282a8b94ccd2a91b2.usd
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      path: object_usds/objaverse_usd/eb9eabb6ec0b4630bc28714a097c9c9f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/37589428db2e4604a3a9919d00148396.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/754ff778bac64db5b6f92516f8259974.usd
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      option:
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    obj2:
      clip_range:
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      path: object_usds/objaverse_usd/4293cb6ba9524175b6e4ba3e10e52ec6.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
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  robots:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
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        type: global_range
      background_4:
        random_range_angle: 360
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
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        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e60dca44482045ce90a71946888a53b1.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/7aa3640350c84c61a9e0600ae7b5fee3.usd
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      path: object_usds/objaverse_usd/71d04b921b7d48fab5f2f0e93d63b3eb.usd
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  preprocess_config:
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    type: ccd
  - config:
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
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        type: global_range
      background_8:
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        type: global_range
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        random_range_w: 0.2
        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c2a66c76348b493196e765361b30b82f.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/e2a0a0c088a64ab185f948f87da9d7e3.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/497e4096c0bc4828b611aa8063157bd3.usd
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      option:
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      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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  robots:
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      background_2:
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        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
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        type: global_range
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        type: global_range
      background_7:
        random_range_angle: 360
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        type: global_range
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        random_range_angle: 360
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        random_range_x: -10
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        type: global_range
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        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/52c6db9c2f924352a9d35c2cdc881cde.usd
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      path: object_usds/objaverse_usd/b1dcc2e6d6f54aaa90c15d9092d0a32e.usd
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    type: ccd
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- domain_randomization:
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      table_texture: false
      table_type: false
      wall_texture: false
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    planner: curobo
    reset_tcp: true
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_x: -0.2
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        type: global_range
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
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      filter_rule: []
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      path: object_usds/objaverse_usd/0f2b2014bb0945ea91ab650934ba6a49.usd
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      path: object_usds/objaverse_usd/a77f8c86090042c1973db829e3fb8b1e.usd
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- domain_randomization:
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      hdr: false
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      table_type: false
      wall_texture: false
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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  mode: manual
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- domain_randomization:
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      wall_texture: false
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
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      path: object_usds/objaverse_usd/dbcb84f03c4347b69f431191b7531cab.usd
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/d93365fe0cf54bac95b60027df67f179.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cc0099a687194a31a052ac761f5fdfea.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
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      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/7ee37c1cd1bf4fe78364d4a39136577d.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/e92205e389f24d75811f463405a33bfe.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0245
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9b6c69649ef64c768907f5e1ae0faa87.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/6df8f49f68f3417b8a759a6ebee7f79c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/4cabff429ac84eb0881fdebb4b202f68.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/c87c165843df4aaa885ff4437d5174d2.usd
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      path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd
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      path: object_usds/objaverse_usd/7416f0f3e04c48d1af25778171256341.usd
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      filter_rule: []
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      path: object_usds/objaverse_usd/7589e46002e141daacad5bffd0ee803d.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/44d5052c398248ddb3e4d521cae035a9.usd
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      path: object_usds/objaverse_usd/984c7af3900448d3be56d7a6bb0ba75c.usd
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    - -2.356
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/22e1fec8d5f14c4f9733cbf41e83c20c.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b6f0e2d1092e4fa9b5ad52ac21561cae.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/5d9f94e4f5034d8cba3ac4b05dbc06ad.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/8f1b662cfb074fc4b6b14298b2888f2a.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      path: object_usds/objaverse_usd/7746283c634c4855b7e2b08351ab44dd.usd
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      clip_range:
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      path: object_usds/objaverse_usd/9bf1b31f641543c9a921042dac3b527f.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e16617aad7e0489a973cfc6bd896d0c5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/85fc6c47742b43cca47b92cc76a5a1e9.usd
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    background_8:
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      path: object_usds/objaverse_usd/e39cc079f57748a5b1c16d22557cf1f6.usd
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      filter_rule:
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      option:
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      type: add_additional_object_from_path
    obj2:
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      type: add_additional_object_from_path
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  robots:
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
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        random_range_x: -10
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        type: global_range
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
  mode: manual
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  robots:
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      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0281
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7887360333be4ffeb209f22a840dcb0c.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9b5633559e414cfba5fc055c53cc298b.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3aa235f727a6456b8170e06a2138798c.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/efec8ae4f87b49bb9676d48670821417.usd
      type: add_additional_object_from_path
    background_4:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3ff441fdf285443cbe4542be0f8b5099.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/cbb56b7055f34ff7b4e790093d1c3681.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/878b53597a8b4f058bb67b7e3fb42274.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/145cb0b388384ff48845320486129a03.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0f2b2014bb0945ea91ab650934ba6a49.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
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      path: object_usds/objaverse_usd_jinyu_V3/935c8e8b8e03426f85c53317354010d2.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/4b8d86761f9440cfb324d0b4d07336ff.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0079
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1b832a6fb7614493b893f9592f39e9ea.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/587b1c9b68324eb38255572ba0d6adde.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/963a56c7201143eba6bbcdf2ad60c1c3.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/177d776679d84c299c45da769a45c7f3.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/102bf0ddb48245a58e494000f3654cb2.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/892e724659c44d6c8771252523075b54.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/dd678588fa084e108b004d5b92328785.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2b7dc3ad62d941eba594f6cbb121639c.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/a4e5d8e9da1d42269d1e943aea52f478.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/57bc95b7347d4cf3a1702f195d734c09.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/03d881feda714b5c95f716ccba0594d6.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0005
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
    cameras:
      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
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        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ad010b988fa44a48baaf9bba6bd97d9b.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c347c6f0357a4deca3a47299c1d6d83c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/182169eeec334fa4bdcce740422ea5c5.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/375ab0387df04e7b9e1bf3b04360e2b2.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/16490ee439a54008afeeefcf53d8d051.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0be224499da94192b4c6a7fc61d21f95.usd
      type: add_additional_object_from_path
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/654306fc3ae344c7b9e7a9a40faca45b.usd
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      option:
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      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/396166abc2844949a478b935b4e6a939.usd
      type: add_additional_object_from_path
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    default_joint_positions:
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    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
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        random_range_h: 20
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        type: global_range
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    type: random_custom_tableset
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  num_test: 1
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      path: object_usds/objaverse_usd/43331c8ba29a42889776a6931e31f15e.usd
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- domain_randomization:
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      wall_texture: false
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    articulation: []
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
    ignored_objects: []
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/9baee10cdb5f4e55a75a8b8abaecf28b.usd
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- domain_randomization:
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      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
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- domain_randomization:
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      table_type: false
      wall_texture: false
    rewrite_instruction: true
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    articulation: []
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/78fe14d4e6f3431686142a9faa75af49.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4018db5a2d5747f2b971e6bb7210063c.usd
      type: add_additional_object_from_path
    background_2:
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        min: 0.05
      filter_rule: []
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      path: object_usds/objaverse_usd/7fe13d5ae76e420995836688803340ca.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1f05836ad0654f52b0caf8765febfd04.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/69832741873b423eb0a6445787bda732.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/5afaf3ae0c6d496e94f9ba733e0042a7.usd
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      path: object_usds/objaverse_usd/1d0c965ea0124bf0acf426de59034364.usd
      type: add_additional_object_from_path
    background_7:
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      path: object_usds/objaverse_usd/3ac3415efb2945019eb282778f4d6bab.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/3b2698a223c94c3f8ec4e47b22469647.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/64722dc854254548af4a6e12b18a08bd.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/7ed6400f0ed34108b07acbfe38428e9e.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0198
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/47ada0835eb647219ee3e385a8fea1b5.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7f6e543144fd4bb59472d90442469363.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/919a347dfcff40fdbe0eaf29b3210f1b.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/eb9eabb6ec0b4630bc28714a097c9c9f.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/e621a3c13bad4fccbfb92a65148d3140.usd
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      path: object_usds/objaverse_usd/ca37b2a37380441d91bbdd54be53a40e.usd
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      path: object_usds/objaverse_usd/88bfa0c9b60a4892b0e14824fccd9e1e.usd
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      path: object_usds/objaverse_usd/37589428db2e4604a3a9919d00148396.usd
      type: add_additional_object_from_path
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/58993b1cdb4045f5b7e692ada63d2409.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/2da0cd17ef9f46359d29776202c283db.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
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    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0192
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3b2d3646caf24c1fb7f0bff1ea12c33b.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/c1a5af37b3ac4ac9bbb2754f2f971df8.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/ad5a23c549cf490e905f928cf9ad3b99.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/0a36fc7335524892884a73c3ca1c37d6.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f1208cb6595642629c5f99627fce27cd.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/c12e3b933d77412c91fad5734645db67.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1c5fb857819e4022910b8fc0ef409318.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/57eb898870d043499d44a20af0afeec7.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7250ab221633469b94035d0c9952c345.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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        min: 0.05
      filter_rule:
      - can_grasp
      option:
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      path: object_usds/objaverse_usd_jinyu_V3/dd7f1d2b5a8147719cef11a331176fdf.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd/09751dc6d60c4e0680b4942e9ac4fd36.usd
      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0249
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/7efff9ac17f4474c8b6fbd519b4e62e1.usd
      type: add_additional_object_from_path
    background_1:
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        min: 0.05
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      path: object_usds/objaverse_usd/5b84834cf9e846f1b289b2fe8909110a.usd
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      path: object_usds/objaverse_usd/2903d7855bfb4164ad6749c1c8c5fede.usd
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      path: object_usds/objaverse_usd/6c382b3630d34ac2883b3112483eecd7.usd
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      option:
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      type: add_additional_object_from_path
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    type: ccd
  - config:
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/1d2158171e4c4630a8ca976c515615e8.usd
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- domain_randomization:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
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- domain_randomization:
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        position:
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    planner: curobo
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      path: object_usds/objaverse_usd/49e746b3f92441b1a548ba9908689351.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0088
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      config_path: saved/assets/collected_packages/GenManip-Package-OOC_Bench/cameras/fixed_camera_robotiq_s2r_3L_align_twoObs.yml
      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
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        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/4171d02e4e1f40eeb873a462cb978f0c.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2aa7264393544dc98f7b2e74857e6952.usd
      type: add_additional_object_from_path
    background_2:
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      filter_rule: []
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      path: object_usds/objaverse_usd/2c484a78361a432ca974589a88ccd9f1.usd
      type: add_additional_object_from_path
    background_3:
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      path: object_usds/objaverse_usd/6e127bf8350c4ceb90bbc5eefe4d3e4c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0b52980cbfb2482cb8245ddf20e78106.usd
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      path: object_usds/objaverse_usd/3f0ee2dce6434bcdb76c4369a5f97e2d.usd
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      path: object_usds/objaverse_usd/1294ff3e79734ee9b1c2c42071a4ac07.usd
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      path: object_usds/objaverse_usd/26afe2f90c5643598048944b52118def.usd
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    background_8:
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      path: object_usds/objaverse_usd/a847a835995a4d91a61f45c9e42f7a1a.usd
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    obj1_0:
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/a1f355ffea18473a99f04c3009ae48cb.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/3140445236c44a72bf7a17991487b258.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
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    - -2.356
    - 0.0
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  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
        - obj1_0
        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/8c77416d80a34b4e877e4459d9331328.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/58d67796a3bd412894c113a797b3f3cf.usd
      type: add_additional_object_from_path
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      filter_rule: []
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      path: object_usds/objaverse_usd/369878e00e114c66b7d07c427c97bed1.usd
      type: add_additional_object_from_path
    background_3:
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      path: object_usds/objaverse_usd/8d3e568f059244e19f3b5f7e789cccb2.usd
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      clip_range:
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      path: object_usds/objaverse_usd/acf21b6152b84ba0a849fc939c579b0c.usd
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    background_5:
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      path: object_usds/objaverse_usd/f87f1aa6d53241e89f9091cfc35cd325.usd
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    background_6:
      clip_range:
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      filter_rule: []
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      path: object_usds/objaverse_usd/1d0c965ea0124bf0acf426de59034364.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/0f3a8a8d256345a2ae48a7c315233877.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/5faa3447f82e45fab5e8527def2c7770.usd
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      option:
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      type: add_additional_object_from_path
    obj2:
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      option:
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      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
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  robots:
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    - -2.356
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
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  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
      background_5:
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        random_range_x: -10
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        type: global_range
      background_6:
        random_range_angle: 360
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        type: global_range
      background_7:
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        type: global_range
      background_8:
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        type: global_range
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        random_range_x: -0.2
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        type: global_range
      obj2:
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        random_range_x: -0.2
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        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
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      filter_rule: []
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      path: object_usds/objaverse_usd/4af08e1e8f594444ad79765332f299bb.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/85bb34e799804836aa67ed0941cb0fd8.usd
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      option:
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      type: add_additional_object_from_path
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  robots:
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- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
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        position:
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    planner: curobo
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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    type: random_custom_tableset
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      filter_rule: []
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      path: object_usds/objaverse_usd/f04ea10301984e2eadee7c8456a54405.usd
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- domain_randomization:
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      table_type: false
      wall_texture: false
    rewrite_instruction: true
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    articulation: []
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        force_fixed_grasp: true
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        obj2_uid:
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        position:
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    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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      background_7:
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        type: global_range
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    type: random_custom_tableset
  mode: manual
  num_test: 1
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      path: object_usds/objaverse_usd/2345e56662504ece977525901a593b43.usd
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- domain_randomization:
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      hdr: false
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      table_texture: false
      table_type: false
      wall_texture: false
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    articulation: []
    goal:
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
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        random_range_h: 20
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        type: global_range
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        type: global_range
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        type: global_range
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        type: global_range
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  mode: manual
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- domain_randomization:
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      table_type: false
      wall_texture: false
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        force_fixed_grasp: true
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        position:
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    mode: random_all
    planner: curobo
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  instruction: ''
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        random_range_h: 20
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        random_range_x: -10
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        type: global_range
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        type: global_range
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        type: global_range
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/46e7a742c00f4b6285abc347bc3ba217.usd
      type: add_additional_object_from_path
    background_1:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/41fa856e63314539b0a6842d4eac9cd3.usd
      type: add_additional_object_from_path
    background_2:
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      filter_rule: []
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      path: object_usds/objaverse_usd/07b07f7292ed41019a8b6aebd98a5c29.usd
      type: add_additional_object_from_path
    background_3:
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      filter_rule: []
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      path: object_usds/objaverse_usd/5ad02ecf7bb34425a8c4a1be2b554be9.usd
      type: add_additional_object_from_path
    background_4:
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      filter_rule: []
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      path: object_usds/objaverse_usd/eee1a1ebdb614f38a722b52e26ebe038.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
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      path: object_usds/objaverse_usd/b6d728b57c8846f7bf7d1722d456c574.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/7ed0516cba434c8ca230f6d9645ff0f3.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/f11824af7ffa4e0ba012fcc9cda3dcab.usd
      type: add_additional_object_from_path
    background_8:
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      path: object_usds/objaverse_usd/991ea3b9799d49e2b27713337c6ec4d5.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
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        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/13f792c9c4a548819a28422780ae9bf4.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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        min: 0.2
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      option:
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      path: object_usds/objaverse_usd/ac2b50d2542c4f458b4ea404b8ed5e4b.usd
      type: add_additional_object_from_path
  preprocess_config:
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      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0155
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/06e991fb04a246308aaf20e28928d5b8.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/25f768edfd9245f0b018d40fa72c686e.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
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      filter_rule: []
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      path: object_usds/objaverse_usd/9b5633559e414cfba5fc055c53cc298b.usd
      type: add_additional_object_from_path
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      clip_range:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3aa235f727a6456b8170e06a2138798c.usd
      type: add_additional_object_from_path
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      path: object_usds/objaverse_usd/3b63269c27024f29868b8f94c9930419.usd
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      clip_range:
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      path: object_usds/objaverse_usd/8cfae5ff022e428490dec84fc5dd1043.usd
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      path: object_usds/objaverse_usd/d1d1c4b27f5c45a29910830e268f7ee2.usd
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      path: object_usds/objaverse_usd/9eb895af086a4cbb95f86bc2fa773b60.usd
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      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/0f074fef547f433586d9ae6f970285ec.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
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      option:
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      path: object_usds/objaverse_usd/ac5b67af3ede4449a971355b60b3228a.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
    - 0.0
    - 0.0
    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0036
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
      has_wall: false
      hdr: false
      robot_base_position:
        random_range: 0.05
      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
    action_path:
      mode: auto
      robot: 0
    articulation: []
    goal:
    - - allow_fixed_grasp: true
        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
      background_0:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
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        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
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        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/be59c580bda64e63bd9e8520f431be55.usd
      type: add_additional_object_from_path
    background_1:
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/05197c7001b343e183e561c66134c951.usd
      type: add_additional_object_from_path
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      is_not_rigid: true
      path: object_usds/objaverse_usd/4fc8c6d19fa841898fa95036c04a4ccf.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/dbcb84f03c4347b69f431191b7531cab.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1ead1e6397844de4ad94f3c578255a04.usd
      type: add_additional_object_from_path
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      clip_range:
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      path: object_usds/objaverse_usd/3e13972376b4401188c8cc0377b6f99d.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9f79ee359a23478ab9d2cc0d0da3fc39.usd
      type: add_additional_object_from_path
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      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/5faa3447f82e45fab5e8527def2c7770.usd
      type: add_additional_object_from_path
    background_8:
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      filter_rule: []
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      path: object_usds/objaverse_usd/e6539a42c12a45488e196b14935cacf1.usd
      type: add_additional_object_from_path
    obj1_0:
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        min: 0.05
      filter_rule:
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      option:
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      path: object_usds/objaverse_usd_jinyu_V3/38d6d1c01caa499cbbe2c4b2a037b073.usd
      type: add_additional_object_from_path
    obj2:
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      option:
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      path: object_usds/objaverse_usd/6e444e52e656441d82394022f27053c4.usd
      type: add_additional_object_from_path
  preprocess_config:
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    type: ccd
  - config:
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      type: convexDecomposition
    type: collider
  robots:
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    default_joint_positions:
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    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
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    - 0.0
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    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0284
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance
- domain_randomization:
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      type: fixed
    object_data_path: objaverse_annotation_refined_container_selection
    random_environment:
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      hdr: false
      robot_base_position:
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      robot_eepose: false
      table_texture: false
      table_type: false
      wall_texture: false
    rewrite_instruction: true
  generation_config:
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      robot: 0
    articulation: []
    goal:
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        fixed_position: true
        force_fixed_grasp: true
        obj1_uid:
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        obj2_uid:
        - obj2
        position:
        - top
    mode: random_all
    planner: curobo
    reset_tcp: true
  instruction: ''
  layout_config:
    custom_tableset:
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        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_1:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_2:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_3:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_4:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_5:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_6:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_7:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      background_8:
        random_range_angle: 360
        random_range_h: 20
        random_range_w: 20
        random_range_x: -10
        random_range_y: -10
        type: global_range
      obj1_0:
        random_range_angle: 360
        random_range_h: 0.35
        random_range_w: 0.2
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
      obj2:
        random_range_angle: 360
        random_range_h: 0.7
        random_range_w: 0.4
        random_range_x: -0.2
        random_range_y: -0.35
        type: global_range
    ignored_objects: []
    in_order: true
    type: random_custom_tableset
  mode: manual
  num_test: 1
  object_config:
    background_0:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/05b7974e98044bcba1f586eef3fe4a9f.usd
      type: add_additional_object_from_path
    background_1:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/2c38a0d71fc64064b162b33154334265.usd
      type: add_additional_object_from_path
    background_2:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/3b09e1d365be4f069417b2f54ba4e7c4.usd
      type: add_additional_object_from_path
    background_3:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/9589e56adfd242909543728930547b7a.usd
      type: add_additional_object_from_path
    background_4:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/fd8856ff437c45e19d867b2a130f6509.usd
      type: add_additional_object_from_path
    background_5:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/1fd99e3986d74554a8ad2b70b4b22a0f.usd
      type: add_additional_object_from_path
    background_6:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/f53833df2a34418ea17731aaa1bb10e3.usd
      type: add_additional_object_from_path
    background_7:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/e1fa58a072214feb829fca226687ed4a.usd
      type: add_additional_object_from_path
    background_8:
      clip_range:
        max: 0.2
        min: 0.05
      filter_rule: []
      is_not_rigid: true
      path: object_usds/objaverse_usd/b6bfe1c7bb3b4fd691f24914e430a2b2.usd
      type: add_additional_object_from_path
    obj1_0:
      clip_range:
        max: 0.15
        min: 0.05
      filter_rule:
      - can_grasp
      option:
      - adjust_thickness
      path: object_usds/objaverse_usd_jinyu_V3/2d609d3adf9e49ac945b62b5ce98573e.usd
      type: add_additional_object_from_path
    obj2:
      clip_range:
        max: 0.35
        min: 0.2
      filter_rule:
      - is_container
      option:
      - force_top
      path: object_usds/objaverse_usd/4cb1ff4e9b064c4f906d1b985c4c4008.usd
      type: add_additional_object_from_path
  preprocess_config:
  - config:
      type: ccd
    type: ccd
  - config:
      config: default
      type: convexDecomposition
    type: collider
  robots:
  - config:
      gripper_type: robotiq
    default_joint_positions:
    - 0.0
    - -0.785
    - 0.0
    - -2.356
    - 0.0
    - 1.57079
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    - 0.0
    type: franka
  table_uid: aa49db8a801d402dac6cf1579536502c
  task_name: ooc_bench300_0193
  usd_name: collected_packages/GenManip-Package-OOC_Bench/scenes/scene_usds/sim2real_scenes_align_for_scaling/base/instance