diff --git a/.gitattributes b/.gitattributes
index 1ef325f1b111266a6b26e0196871bd78baa8c2f3..e8dc7f001304dbf6b3cb8c2d00e3ad23f0e36e37 100644
--- a/.gitattributes
+++ b/.gitattributes
@@ -57,3 +57,9 @@ saved_model/**/* filter=lfs diff=lfs merge=lfs -text
 # Video files - compressed
 *.mp4 filter=lfs diff=lfs merge=lfs -text
 *.webm filter=lfs diff=lfs merge=lfs -text
+scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usd filter=lfs diff=lfs merge=lfs -text
+scenes/scene_usds/debug_scenes/banana_plate_scenes/base/Downloads/brown_photostudio_02_4k.exr filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
+tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/data.mdb filter=lfs diff=lfs merge=lfs -text
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/Downloads/brown_photostudio_02_4k.exr b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/Downloads/brown_photostudio_02_4k.exr
new file mode 100644
index 0000000000000000000000000000000000000000..f2712e277f960d20e233e19cb675a2902691b4d1
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/Downloads/brown_photostudio_02_4k.exr
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:580a912e23d2298f59e983496fd9b4a4646a0659877e0f0391fcddb8813f2034
+size 20159867
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usd b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usd
new file mode 100644
index 0000000000000000000000000000000000000000..82ec29e08f160fc083a81fa4af0d76fe5ec1659c
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0e5079b3c12f20368875b684de5987d4a9422f86ab48cff3c115c861accb57d
+size 11513215
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda
new file mode 100644
index 0000000000000000000000000000000000000000..f6d300f4e0478635a99547a874ee7f192385b4a6
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance.usda
@@ -0,0 +1,78 @@
+#usda 1.0
+(
+    customLayerData = {
+        dictionary omni_layer = {
+            dictionary locked = {
+            }
+            dictionary muteness = {
+            }
+        }
+        dictionary renderSettings = {
+            float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
+            float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
+            float3 "rtx:index:backgroundColor" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMax" = (0, 0, 0)
+            float3 "rtx:index:regionOfInterestMin" = (0, 0, 0)
+            float3 "rtx:post:backgroundZeroAlpha:backgroundDefaultColor" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gain" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorcorr:offset" = (0, 0, 0)
+            float3 "rtx:post:colorcorr:saturation" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:blackpoint" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:contrast" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gain" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:gamma" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:lift" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:multiply" = (1, 1, 1)
+            float3 "rtx:post:colorgrad:offset" = (0, 0, 0)
+            float3 "rtx:post:colorgrad:whitepoint" = (1, 1, 1)
+            float3 "rtx:post:lensDistortion:lensFocalLengthArray" = (10, 30, 50)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffX" = (450, 475, 500)
+            float3 "rtx:post:lensFlares:anisoFlareFalloffY" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:cutoffPoint" = (2, 2, 2)
+            float3 "rtx:post:lensFlares:haloFlareFalloff" = (10, 10, 10)
+            float3 "rtx:post:lensFlares:haloFlareRadius" = (75, 75, 75)
+            float3 "rtx:post:lensFlares:isotropicFlareFalloff" = (50, 50, 50)
+            float3 "rtx:post:tonemap:whitepoint" = (1, 1, 1)
+            float3 "rtx:raytracing:indexdirect:svoBrickSize" = (32, 32, 32)
+            float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
+            float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
+            float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
+            double "rtx:translucency:worldEps" = 0.005
+        }
+    }
+    defaultPrim = "World"
+    endTimeCode = 1000000
+    metersPerUnit = 1.0
+    startTimeCode = 0
+    timeCodesPerSecond = 60
+    upAxis = "Z"
+)
+
+over "Render" (
+    hide_in_stage_window = true
+)
+{
+}
+
+def Xform "World"
+{
+    def "_instance" (
+        prepend payload = @./instance.usd@
+    )
+    {
+        float3 xformOp:rotateXYZ = (0, 0, 0)
+        float3 xformOp:scale = (1, 1, 1)
+        double3 xformOp:translate = (0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+    }
+}
+
+def Xform "Environment"
+{
+    double3 xformOp:rotateXYZ = (0, 0, 0)
+    double3 xformOp:scale = (1, 1, 1)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
+}
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture0.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..04fe20fde71d1944bec7b45c92ddadc0aebfbae6
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d43cb2f8fc6942dea9fcc38984ab22aa7cc604cec6939b87769f90e15ecc8f8b
+size 989100
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture1.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..f405a2e0f54eb5471a24bfef6a8e356aab49ca32
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1547fa5402fd72a66451d30f4df379a8e817b41be7250ce9fab43eeffc01d623
+size 690631
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture2.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..17fd6343c939b9f8f5760ddadb2081566567f5ac
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/1fdc84a7be2c4348b281490c89d76062_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7aeb4a827079b88e1bb74240b9469c610d0bc29745c794ce055f921a89907d4
+size 528927
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture0.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture0.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e8ab48795610bb50b4c48a608578089ad8021c7
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture0.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ead48865e288f38b793e382580beef22cd5a28614fd82dd66df725b3a398c1b
+size 1048317
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture1.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..17a1d306b5d656c8e72bfc9360ebeef0c0c3b4f3
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/mnt/data/assets/usds/textures/aa49db8a801d402dac6cf1579536502c_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15c3a5270f8954c695976a19192e1b0c092dc478ffbe2405ce3e430642ddcf21
+size 1078310
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture0.jpg b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture0.jpg
new file mode 100644
index 0000000000000000000000000000000000000000..efd54851e5497c94af9e6d65d7d0403d8ff2d919
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture0.jpg
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e67b51c1af92794bff30fce19551c09a1706dff75a6e035368ed51f2d868e624
+size 352304
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture1.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture1.png
new file mode 100644
index 0000000000000000000000000000000000000000..a67edbd4bc0d2a551a7519acc147e6af1ab1a7fe
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture1.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a1d9266240bb451314d434a76964345fce20151463f9c5da221ee83493b06d
+size 681573
diff --git a/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture2.png b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture2.png
new file mode 100644
index 0000000000000000000000000000000000000000..d22f97d966124b251b1679fda5d3759a5c3c6275
--- /dev/null
+++ b/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/objects/usds/textures/fb1b6fc41f7e49adbf467e5e5988d190_texture2.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97576515d3c7a7c32cbf9338da1d561741dbd6d42054d60181f74d4a7fbf20b9
+size 998044
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/000/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/000/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/000/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/000/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/000/meta_info.pkl b/tasks/GenManip-Package-Basic/Minimal_Banana/000/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9a07ce7f92b7fce2b5b41258ca0e86737a949a3a
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/000/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd66a960106820f4620f69122a79c0087293b28a647ab66f44739c9123c057b3
+size 4849
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/001/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/001/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/001/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/001/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/002/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/002/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/002/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/data.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..6d87c5b0c4a1081522ef5a2b406451ca82b085f9
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16a4209a510299bf208d9a798724f685d461bc4dbd3834e042a243620a109dd4
+size 708608
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/002/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/003/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/003/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/003/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/data.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..258f5cbe472df7875514ee9ca741aa3d6be3399d
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30d73d15efdf25437cf7f9c57edab9181385f737d05f0e797fae0de38b28bed1
+size 716800
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/003/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/003/meta_info.pkl b/tasks/GenManip-Package-Basic/Minimal_Banana/003/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ca65237930b1dc58efb4305187616c36bccfe8a8
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/003/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a37e1083752067342f320d713b371d3f4e9bb1cc43e71e0df38f92882c5d9f0
+size 4849
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/004/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/004/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/004/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/004/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/005/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/005/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/005/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/005/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/006/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/006/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/006/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/006/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/007/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/007/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/007/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/007/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/007/meta_info.pkl b/tasks/GenManip-Package-Basic/Minimal_Banana/007/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..ce6b0ccc57308ba09b898a394fa003344ca55f4e
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/007/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42581f6dc68b9a370f534cc40c43a70b28af33ba42c13a75dce138662a8ab6ce
+size 4849
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/008/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/008/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/008/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/data.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..88f82190eecb87fa1dbb10a0ba1484403966f124
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f4eee37ae1698d81a37ff2bbd09e7a539a79e7b6e90449be252cf70c0346f9
+size 716800
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/008/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/009/config.yaml b/tasks/GenManip-Package-Basic/Minimal_Banana/009/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/009/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/data.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/data.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..47265dd5ec0f9f216e2e41aaa7d3434c1ab7735f
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/data.mdb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66f866522fa9450b38b407d60969c4a730b29bcf0300f5cbff6c21ff77c41f31
+size 720896
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/info.json b/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ddb4f9c5d07728aeb0a35454bf1a01c470fa91c6
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/info.json
@@ -0,0 +1 @@
+{"observation/obs_camera/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/obs_camera_2/camera_params": [[450.0, 0.0, 320.0], [0.0, 450.0, 240.0], [0.0, 0.0, 1.0]], "observation/realsense/camera_params": [[288.0, 0.0, 320.0], [0.0, 288.0, 240.0], [0.0, 0.0, 1.0]], "observation/tcp_config": [{"idx": 0, "name": "tcp0", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0.0, 0.0, 0.0]}, {"idx": 1, "name": "tcp1", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_hand", "position": [0, 0, 0.112]}, {"idx": 2, "name": "tcp2", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [0, 0.006, 0.054]}, {"idx": 3, "name": "tcp3", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [0, -0.006, 0.054]}, {"idx": 4, "name": "tcp4", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_leftfinger", "position": [-0.0008, 0.02, 0.0275]}, {"idx": 5, "name": "tcp5", "orientation": [0.0, 0.0, 0.0, 1.0], "parent_prim_path": "panda_rightfinger", "position": [-0.0008, -0.02, 0.0275]}]}
\ No newline at end of file
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/lock.mdb b/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/lock.mdb
new file mode 100644
index 0000000000000000000000000000000000000000..ab653d3be8a61117ef3f21ee1370eec65604cb0a
Binary files /dev/null and b/tasks/GenManip-Package-Basic/Minimal_Banana/009/lmdb/lock.mdb differ
diff --git a/tasks/GenManip-Package-Basic/Minimal_Banana/009/meta_info.pkl b/tasks/GenManip-Package-Basic/Minimal_Banana/009/meta_info.pkl
new file mode 100644
index 0000000000000000000000000000000000000000..9e879fdb78f410e61d2dff87f941ecc1dd7b6d31
--- /dev/null
+++ b/tasks/GenManip-Package-Basic/Minimal_Banana/009/meta_info.pkl
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00c3ee3fb10ebbf60e96900631bc90d855425c98182ec58e428b1ec699336920
+size 4849
diff --git a/tasks/config.yaml b/tasks/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82a32713030fd45cd5a087c9882527f6e8462ecc
--- /dev/null
+++ b/tasks/config.yaml
@@ -0,0 +1,59 @@
+demonstration_configs: []
+evaluation_configs:
+- domain_randomization:
+    cameras:
+      config_path: configs/cameras/fixed_camera.yml
+      type: fixed
+    random_environment:
+      has_wall: false
+      hdr: false
+      robot_base_position: false
+      robot_eepose: false
+      table_texture: false
+      table_type: false
+      wall_texture: false
+    rewrite_instruction: false
+  generation_config:
+    action_path:
+      mode: auto
+      robot: 0
+    articulation: []
+    goal:
+    - - allow_fixed_grasp: true
+        fixed_position: true
+        force_fixed_grasp: true
+        obj1_uid:
+        - '0'
+        obj2_uid:
+        - '1'
+        position:
+        - top
+    mode: manual
+    planner: curobo
+  instruction: put the banana on the top of the vintage rusty frying pan.
+  layout_config:
+    ignored_objects: []
+    type: None
+  mode: manual
+  num_test: 10
+  object_config:
+    '0':
+      type: existed_object
+      uid_list:
+      - fb1b6fc41f7e49adbf467e5e5988d190
+    '1':
+      type: existed_object
+      uid_list:
+      - 1fdc84a7be2c4348b281490c89d76062
+  preprocess_config:
+  - config:
+      config: default
+      type: convexDecomposition
+    type: collider
+  robots:
+  - config:
+      gripper_type: panda_hand
+    type: franka
+  table_uid: aa49db8a801d402dac6cf1579536502c
+  task_name: GenManip-Package-Basic/Minimal_Banana
+  usd_name: collected_packages/GenManip-Package-Basic/scenes/scene_usds/debug_scenes/banana_plate_scenes/base/instance