diff --git a/.agents/skills/hf-cli/SKILL.md b/.agents/skills/hf-cli/SKILL.md
new file mode 100644
index 0000000000000000000000000000000000000000..b71a7d5f4b54958b62d2a9a125e444f467bca0fa
--- /dev/null
+++ b/.agents/skills/hf-cli/SKILL.md
@@ -0,0 +1,174 @@
+---
+name: hf-cli
+description: "Hugging Face Hub CLI (`hf`) for downloading, uploading, and managing repositories, models, datasets, and Spaces on the Hugging Face Hub. Replaces now deprecated `huggingface-cli` command."
+---
+
+Install: `curl -LsSf https://hf.co/cli/install.sh | bash -s`.
+
+The Hugging Face Hub CLI tool `hf` is available. IMPORTANT: The `hf` command replaces the deprecated `huggingface-cli` command.
+
+Use `hf --help` to view available functions. Note that auth commands are now all under `hf auth` e.g. `hf auth whoami`.
+
+Generated with `huggingface_hub v1.7.2`. Run `hf skills add --force` to regenerate.
+
+## Commands
+
+- `hf download REPO_ID` — Download files from the Hub. `[--type CHOICE --revision TEXT --include TEXT --exclude TEXT --cache-dir TEXT --local-dir TEXT --force-download --dry-run --quiet --max-workers INTEGER]`
+- `hf env` — Print information about the environment.
+- `hf sync` — Sync files between local directory and a bucket. `[--delete --ignore-times --ignore-sizes --plan TEXT --apply TEXT --dry-run --include TEXT --exclude TEXT --filter-from TEXT --existing --ignore-existing --verbose --quiet]`
+- `hf upload REPO_ID` — Upload a file or a folder to the Hub. Recommended for single-commit uploads. `[--type CHOICE --revision TEXT --private --include TEXT --exclude TEXT --delete TEXT --commit-message TEXT --commit-description TEXT --create-pr --every FLOAT --quiet]`
+- `hf upload-large-folder REPO_ID LOCAL_PATH` — Upload a large folder to the Hub. Recommended for resumable uploads. `[--type CHOICE --revision TEXT --private --include TEXT --exclude TEXT --num-workers INTEGER --no-report --no-bars]`
+- `hf version` — Print information about the hf version.
+
+### `hf auth` — Manage authentication (login, logout, etc.).
+
+- `hf auth list` — List all stored access tokens.
+- `hf auth login` — Login using a token from huggingface.co/settings/tokens. `[--add-to-git-credential --force]`
+- `hf auth logout` — Logout from a specific token. `[--token-name TEXT]`
+- `hf auth switch` — Switch between access tokens. `[--token-name TEXT --add-to-git-credential]`
+- `hf auth whoami` — Find out which huggingface.co account you are logged in as. `[--format CHOICE]`
+
+### `hf buckets` — Commands to interact with buckets.
+
+- `hf buckets cp SRC` — Copy a single file to or from a bucket. `[--quiet]`
+- `hf buckets create BUCKET_ID` — Create a new bucket. `[--private --exist-ok --quiet]`
+- `hf buckets delete BUCKET_ID` — Delete a bucket. `[--yes --missing-ok --quiet]`
+- `hf buckets info BUCKET_ID` — Get info about a bucket. `[--quiet]`
+- `hf buckets list` — List buckets or files in a bucket. `[--human-readable --tree --recursive --format CHOICE --quiet]`
+- `hf buckets move FROM_ID TO_ID` — Move (rename) a bucket to a new name or namespace.
+- `hf buckets remove ARGUMENT` — Remove files from a bucket. `[--recursive --yes --dry-run --include TEXT --exclude TEXT --quiet]`
+- `hf buckets sync` — Sync files between local directory and a bucket. `[--delete --ignore-times --ignore-sizes --plan TEXT --apply TEXT --dry-run --include TEXT --exclude TEXT --filter-from TEXT --existing --ignore-existing --verbose --quiet]`
+
+### `hf cache` — Manage local cache directory.
+
+- `hf cache list` — List cached repositories or revisions. `[--cache-dir TEXT --revisions --filter TEXT --format CHOICE --quiet --sort CHOICE --limit INTEGER]`
+- `hf cache prune` — Remove detached revisions from the cache. `[--cache-dir TEXT --yes --dry-run]`
+- `hf cache rm TARGETS` — Remove cached repositories or revisions. `[--cache-dir TEXT --yes --dry-run]`
+- `hf cache verify REPO_ID` — Verify checksums for a single repo revision from cache or a local directory. `[--type CHOICE --revision TEXT --cache-dir TEXT --local-dir TEXT --fail-on-missing-files --fail-on-extra-files]`
+
+### `hf collections` — Interact with collections on the Hub.
+
+- `hf collections add-item COLLECTION_SLUG ITEM_ID ITEM_TYPE` — Add an item to a collection. `[--note TEXT --exists-ok]`
+- `hf collections create TITLE` — Create a new collection on the Hub. `[--namespace TEXT --description TEXT --private --exists-ok]`
+- `hf collections delete COLLECTION_SLUG` — Delete a collection from the Hub. `[--missing-ok]`
+- `hf collections delete-item COLLECTION_SLUG ITEM_OBJECT_ID` — Delete an item from a collection. `[--missing-ok]`
+- `hf collections info COLLECTION_SLUG` — Get info about a collection on the Hub. Output is in JSON format.
+- `hf collections list` — List collections on the Hub. `[--owner TEXT --item TEXT --sort CHOICE --limit INTEGER --format CHOICE --quiet]`
+- `hf collections update COLLECTION_SLUG` — Update a collection's metadata on the Hub. `[--title TEXT --description TEXT --position INTEGER --private --theme TEXT]`
+- `hf collections update-item COLLECTION_SLUG ITEM_OBJECT_ID` — Update an item in a collection. `[--note TEXT --position INTEGER]`
+
+### `hf datasets` — Interact with datasets on the Hub.
+
+- `hf datasets info DATASET_ID` — Get info about a dataset on the Hub. Output is in JSON format. `[--revision TEXT --expand TEXT]`
+- `hf datasets list` — List datasets on the Hub. `[--search TEXT --author TEXT --filter TEXT --sort CHOICE --limit INTEGER --expand TEXT --format CHOICE --quiet]`
+- `hf datasets parquet DATASET_ID` — List parquet file URLs available for a dataset. `[--subset TEXT --split TEXT --format CHOICE --quiet]`
+- `hf datasets sql SQL` — Execute a raw SQL query with DuckDB against dataset parquet URLs. `[--format CHOICE]`
+
+### `hf discussions` — Manage discussions and pull requests on the Hub.
+
+- `hf discussions close REPO_ID NUM` — Close a discussion or pull request. `[--comment TEXT --yes --type CHOICE]`
+- `hf discussions comment REPO_ID NUM` — Comment on a discussion or pull request. `[--body TEXT --body-file PATH --type CHOICE]`
+- `hf discussions create REPO_ID --title TEXT` — Create a new discussion or pull request on a repo. `[--body TEXT --body-file PATH --pull-request --type CHOICE]`
+- `hf discussions diff REPO_ID NUM` — Show the diff of a pull request. `[--type CHOICE]`
+- `hf discussions info REPO_ID NUM` — Get info about a discussion or pull request. `[--comments --diff --no-color --type CHOICE --format CHOICE]`
+- `hf discussions list REPO_ID` — List discussions and pull requests on a repo. `[--status CHOICE --kind CHOICE --author TEXT --limit INTEGER --type CHOICE --format CHOICE --quiet]`
+- `hf discussions merge REPO_ID NUM` — Merge a pull request. `[--comment TEXT --yes --type CHOICE]`
+- `hf discussions rename REPO_ID NUM NEW_TITLE` — Rename a discussion or pull request. `[--type CHOICE]`
+- `hf discussions reopen REPO_ID NUM` — Reopen a closed discussion or pull request. `[--comment TEXT --yes --type CHOICE]`
+
+### `hf endpoints` — Manage Hugging Face Inference Endpoints.
+
+- `hf endpoints catalog deploy --repo TEXT` — Deploy an Inference Endpoint from the Model Catalog. `[--name TEXT --accelerator TEXT --namespace TEXT]`
+- `hf endpoints catalog list` — List available Catalog models.
+- `hf endpoints delete NAME` — Delete an Inference Endpoint permanently. `[--namespace TEXT --yes]`
+- `hf endpoints deploy NAME --repo TEXT --framework TEXT --accelerator TEXT --instance-size TEXT --instance-type TEXT --region TEXT --vendor TEXT` — Deploy an Inference Endpoint from a Hub repository. `[--namespace TEXT --task TEXT --min-replica INTEGER --max-replica INTEGER --scale-to-zero-timeout INTEGER --scaling-metric CHOICE --scaling-threshold FLOAT]`
+- `hf endpoints describe NAME` — Get information about an existing endpoint. `[--namespace TEXT]`
+- `hf endpoints list` — Lists all Inference Endpoints for the given namespace. `[--namespace TEXT --format CHOICE --quiet]`
+- `hf endpoints pause NAME` — Pause an Inference Endpoint. `[--namespace TEXT]`
+- `hf endpoints resume NAME` — Resume an Inference Endpoint. `[--namespace TEXT --fail-if-already-running]`
+- `hf endpoints scale-to-zero NAME` — Scale an Inference Endpoint to zero. `[--namespace TEXT]`
+- `hf endpoints update NAME` — Update an existing endpoint. `[--namespace TEXT --repo TEXT --accelerator TEXT --instance-size TEXT --instance-type TEXT --framework TEXT --revision TEXT --task TEXT --min-replica INTEGER --max-replica INTEGER --scale-to-zero-timeout INTEGER --scaling-metric CHOICE --scaling-threshold FLOAT]`
+
+### `hf extensions` — Manage hf CLI extensions.
+
+- `hf extensions exec NAME` — Execute an installed extension.
+- `hf extensions install REPO_ID` — Install an extension from a public GitHub repository. `[--force]`
+- `hf extensions list` — List installed extension commands. `[--format CHOICE --quiet]`
+- `hf extensions remove NAME` — Remove an installed extension.
+- `hf extensions search` — Search extensions available on GitHub (tagged with 'hf-extension' topic). `[--format CHOICE --quiet]`
+
+### `hf jobs` — Run and manage Jobs on the Hub.
+
+- `hf jobs cancel JOB_ID` — Cancel a Job `[--namespace TEXT]`
+- `hf jobs hardware` — List available hardware options for Jobs
+- `hf jobs inspect JOB_IDS` — Display detailed information on one or more Jobs `[--namespace TEXT]`
+- `hf jobs logs JOB_ID` — Fetch the logs of a Job. `[--follow --tail INTEGER --namespace TEXT]`
+- `hf jobs ps` — List Jobs. `[--all --namespace TEXT --filter TEXT --format TEXT --quiet]`
+- `hf jobs run IMAGE COMMAND` — Run a Job. `[--env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --flavor CHOICE --timeout TEXT --detach --namespace TEXT]`
+- `hf jobs scheduled delete SCHEDULED_JOB_ID` — Delete a scheduled Job. `[--namespace TEXT]`
+- `hf jobs scheduled inspect SCHEDULED_JOB_IDS` — Display detailed information on one or more scheduled Jobs `[--namespace TEXT]`
+- `hf jobs scheduled ps` — List scheduled Jobs `[--all --namespace TEXT --filter TEXT --format TEXT --quiet]`
+- `hf jobs scheduled resume SCHEDULED_JOB_ID` — Resume (unpause) a scheduled Job. `[--namespace TEXT]`
+- `hf jobs scheduled run SCHEDULE IMAGE COMMAND` — Schedule a Job. `[--suspend --concurrency --env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --flavor CHOICE --timeout TEXT --namespace TEXT]`
+- `hf jobs scheduled suspend SCHEDULED_JOB_ID` — Suspend (pause) a scheduled Job. `[--namespace TEXT]`
+- `hf jobs scheduled uv run SCHEDULE SCRIPT` — Run a UV script (local file or URL) on HF infrastructure `[--suspend --concurrency --image TEXT --flavor CHOICE --env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --timeout TEXT --namespace TEXT --with TEXT --python TEXT]`
+- `hf jobs stats` — Fetch the resource usage statistics and metrics of Jobs `[--namespace TEXT]`
+- `hf jobs uv run SCRIPT` — Run a UV script (local file or URL) on HF infrastructure `[--image TEXT --flavor CHOICE --env TEXT --secrets TEXT --label TEXT --env-file TEXT --secrets-file TEXT --timeout TEXT --detach --namespace TEXT --with TEXT --python TEXT]`
+
+### `hf models` — Interact with models on the Hub.
+
+- `hf models info MODEL_ID` — Get info about a model on the Hub. Output is in JSON format. `[--revision TEXT --expand TEXT]`
+- `hf models list` — List models on the Hub. `[--search TEXT --author TEXT --filter TEXT --num-parameters TEXT --sort CHOICE --limit INTEGER --expand TEXT --format CHOICE --quiet]`
+
+### `hf papers` — Interact with papers on the Hub.
+
+- `hf papers list` — List daily papers on the Hub. `[--date TEXT --sort CHOICE --limit INTEGER --format CHOICE --quiet]`
+
+### `hf repos` — Manage repos on the Hub.
+
+- `hf repos branch create REPO_ID BRANCH` — Create a new branch for a repo on the Hub. `[--revision TEXT --type CHOICE --exist-ok]`
+- `hf repos branch delete REPO_ID BRANCH` — Delete a branch from a repo on the Hub. `[--type CHOICE]`
+- `hf repos create REPO_ID` — Create a new repo on the Hub. `[--type CHOICE --space-sdk TEXT --private --exist-ok --resource-group-id TEXT]`
+- `hf repos delete REPO_ID` — Delete a repo from the Hub. This is an irreversible operation. `[--type CHOICE --missing-ok]`
+- `hf repos delete-files REPO_ID PATTERNS` — Delete files from a repo on the Hub. `[--type CHOICE --revision TEXT --commit-message TEXT --commit-description TEXT --create-pr]`
+- `hf repos duplicate FROM_ID` — Duplicate a repo on the Hub (model, dataset, or Space). `[--type CHOICE --private --exist-ok]`
+- `hf repos move FROM_ID TO_ID` — Move a repository from a namespace to another namespace. `[--type CHOICE]`
+- `hf repos settings REPO_ID` — Update the settings of a repository. `[--gated CHOICE --private --type CHOICE]`
+- `hf repos tag create REPO_ID TAG` — Create a tag for a repo. `[--message TEXT --revision TEXT --type CHOICE]`
+- `hf repos tag delete REPO_ID TAG` — Delete a tag for a repo. `[--yes --type CHOICE]`
+- `hf repos tag list REPO_ID` — List tags for a repo. `[--type CHOICE]`
+
+### `hf skills` — Manage skills for AI assistants.
+
+- `hf skills add` — Download a skill and install it for an AI assistant. `[--claude --codex --cursor --opencode --global --dest PATH --force]`
+- `hf skills preview` — Print the generated SKILL.md to stdout.
+
+### `hf spaces` — Interact with spaces on the Hub.
+
+- `hf spaces dev-mode SPACE_ID` — Enable or disable dev mode on a Space. `[--stop]`
+- `hf spaces hot-reload SPACE_ID` — Hot-reload any Python file of a Space without a full rebuild + restart. `[--local-file TEXT --skip-checks --skip-summary]`
+- `hf spaces info SPACE_ID` — Get info about a space on the Hub. Output is in JSON format. `[--revision TEXT --expand TEXT]`
+- `hf spaces list` — List spaces on the Hub. `[--search TEXT --author TEXT --filter TEXT --sort CHOICE --limit INTEGER --expand TEXT --format CHOICE --quiet]`
+
+### `hf webhooks` — Manage webhooks on the Hub.
+
+- `hf webhooks create --watch TEXT` — Create a new webhook. `[--url TEXT --job-id TEXT --domain CHOICE --secret TEXT]`
+- `hf webhooks delete WEBHOOK_ID` — Delete a webhook permanently. `[--yes]`
+- `hf webhooks disable WEBHOOK_ID` — Disable an active webhook.
+- `hf webhooks enable WEBHOOK_ID` — Enable a disabled webhook.
+- `hf webhooks info WEBHOOK_ID` — Show full details for a single webhook as JSON.
+- `hf webhooks list` — List all webhooks for the current user. `[--format CHOICE --quiet]`
+- `hf webhooks update WEBHOOK_ID` — Update an existing webhook. Only provided options are changed. `[--url TEXT --watch TEXT --domain CHOICE --secret TEXT]`
+
+## Common options
+
+- `--format` — Output format: `--format json` (or `--json`) or `--format table` (default).
+- `-q / --quiet` — Minimal output.
+- `--revision` — Git revision id which can be a branch name, a tag, or a commit hash.
+- `--token` — Use a User Access Token. Prefer setting `HF_TOKEN` env var instead of passing `--token`.
+- `--type` — The type of repository (model, dataset, or space).
+
+## Tips
+
+- Use `hf <command> --help` for full options, descriptions, usage, and real-world examples
+- Authenticate with `HF_TOKEN` env var (recommended) or with `--token`
\ No newline at end of file
diff --git a/.gitattributes b/.gitattributes
index a6344aac8c09253b3b630fb776ae94478aa0275b..41d1fe963c1ebc83df4157f856911e7d9588e1f3 100644
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diff --git a/grippers/franka_panda/controller_info.json b/grippers/franka_panda/controller_info.json
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+{
+    "close_dir": [-1, -1],
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@@ -0,0 +1,43 @@
+mdl 1.3;
+
+import ::OmniGlass::OmniGlass;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = OmniGlass::OmniGlass(
+    absorption_coeff: color(1.f, 1.f, 1.f),
+    glass_color: color(1.f, 1.f, 1.f),
+    use_glass_color_texture: false,
+    glass_color_texture: texture_2d(),
+    frosting_roughness: 0.f,
+    glass_ior: 1.52f,
+    thin_walled: true,
+    project_uvw: false,
+    world_or_object: false,
+    uv_space_index: 0,
+    texture_translate: float2(0.f),
+    texture_rotate: 0.f,
+    texture_scale: float2(1.f));
+	
+/*	
+mdl 1.5;
+
+import ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume;
+import ::tex::gamma_mode;
+import ::state::normal;
+
+export material Clear_Glass(*)
+ = ::Library::AEC::Materials::Templates::GlassWithVolume::GlassWithVolume(
+    thin_walled: true,
+    transmission_color: color(1.f, 1.f, 1.f),
+    roughness_texture: texture_2d(),
+    ior: 1.52f,
+    transmission_color_texture: texture_2d(),
+    roughness_texture_influence: 0.f,
+    roughness: 0.f,
+    reflection_color_texture: texture_2d(),
+    reflection_color: color(1.f, 1.f, 1.f),
+    depth: 0.0001f,
+    normal_map_texture: texture_2d());
+*/
diff --git a/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/object.usd b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/object.usd
new file mode 100644
index 0000000000000000000000000000000000000000..8f4162849c1ebb1bdc2d90101ce7bf896669fe85
--- /dev/null
+++ b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/object.usd
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b71198a20bcaa0791a02fa9894ee58f4d655bfbc91d13002872f5c743f00517
+size 401086
diff --git a/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/extensions.json b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/extensions.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea614ed629affdd0d97abcc881b511d3de69a25c
--- /dev/null
+++ b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/extensions.json
@@ -0,0 +1,8 @@
+{
+	// See http://go.microsoft.com/fwlink/?LinkId=827846
+	// for the documentation about the extensions.json format
+	"recommendations": [
+		"ms-python.python",
+		"ms-python.vscode-pylance"
+	],
+}
\ No newline at end of file
diff --git a/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/launch.json b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/launch.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a22f73af48687152cef11e4098995885fcaff48
--- /dev/null
+++ b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/launch.json
@@ -0,0 +1,25 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Python: Attach (windows-x86_64/linux-x86_64)",
+            "type": "python",
+            "request": "attach",
+            "pathMappings": [
+            {
+                "localRoot": "${workspaceFolder}",
+                "remoteRoot": "${workspaceFolder}"
+            }],
+            "port": 3000,
+            "host": "127.0.0.1",
+            "subProcess": true,
+            "runtimeArgs": [
+                "--preserve-symlinks",
+                "--preserve-symlinks-main"
+            ]
+        }
+    ]
+}
diff --git a/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/settings.json b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..63a0b3e70ae6047c1977e3c9e8e368ed5c157fbc
--- /dev/null
+++ b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+    "editor.rulers": [120],
+    "python.languageServer": "Pylance",
+    "python.formatting.provider": "black",
+    "python.formatting.blackArgs": ["--line-length", "120"],
+    "python.linting.enabled": true,
+    "python.linting.pylintEnabled": false,
+    "python.linting.flake8Enabled": true,
+    "python.linting.flake8Args": ["--max-line-length=120"]
+}
diff --git a/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/cabinet_control.py b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/cabinet_control.py
new file mode 100644
index 0000000000000000000000000000000000000000..f4550c24e783e227338ce68ff2cc90417489b805
--- /dev/null
+++ b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/cabinet_control.py
@@ -0,0 +1,185 @@
+import carb
+from omni.kit.scripting import BehaviorScript
+from omni.isaac.dynamic_control import _dynamic_control
+from enum import Enum
+from pxr import Gf
+from threading import Thread
+import marshal,json
+import omni.kit.commands
+from omni.isaac.core.prims import XFormPrim
+import numpy as np
+from pxr import Gf, Sdf, Usd, UsdGeom
+from omni.isaac.core import SimulationContext, World
+import math
+from omni.replicator.core import utils
+from pxr import PhysxSchema, UsdGeom, UsdPhysics
+import math
+# import nvidia.srl.usd.prim_helper as prim_helper
+
+
+
+def find_prim_path_by_name(prim_name: str, root_path: str = "/") -> str:
+    """Recursively find the full path by Prim name"""
+    stage = omni.usd.get_context().get_stage()
+    prim = stage.GetPrimAtPath(root_path)
+    
+    def _find_prim(prim):
+        if prim.GetName() == prim_name:
+            return prim.GetPath().pathString
+        for child in prim.GetChildren():
+            result = _find_prim(child)
+            if result:
+                return result
+        return None
+    
+    found_path = _find_prim(prim)
+    if not found_path:
+        raise RuntimeError(f"Prim '{prim_name}' not found under {root_path}")
+    return found_path
+
+def calculate_stiffness(joint_state, joint_limit):
+    """Calculate stiffness value based on joint angle
+    
+    Args:
+        joint_state (float): Joint angle (radians)
+        joint_limit (float): Joint limit value
+        
+    Returns:
+        float: Stiffness value
+    """
+    max_stiffness = 30 
+    min_stiffness = 2   
+    decay_rate = 3  
+    # threshold = math.radians(20) 
+    # threshold =  0.3 * joint_limit
+    threshold =  -0.1
+    if joint_state < threshold:
+        return min_stiffness
+    stiffness = max_stiffness * math.exp(-decay_rate * abs(joint_state))
+    return max(min_stiffness, min(stiffness, max_stiffness))
+        
+
+# 1. Articulation Root prim
+root_articulation_prim = find_prim_path_by_name("E_body_3")
+
+# 2. Joint names 
+joint_names = ["PrismaticJoint_cabinet_6_down" ]
+#joint1_prim = find_prim_path_by_name(joint_names[0])
+#joint2_prim = find_prim_path_by_name(joint_names[1])
+stage = omni.usd.get_context().get_stage()
+joints_info = {}
+
+# 3. Joint information
+for joint_name in joint_names:
+    joint_prim_path = find_prim_path_by_name(joint_name)
+    joint_prim_obj = stage.GetPrimAtPath(joint_prim_path)
+    joint = UsdPhysics.PrismaticJoint(joint_prim_obj)
+    
+    joints_info[joint_name] = {
+        'prim': joint,
+        'lower_limit': joint.GetLowerLimitAttr().Get(),
+        'upper_limit': joint.GetUpperLimitAttr().Get()
+    }
+   
+# joint1_lower_limit = joints_info[joint_names[0]]['lower_limit']
+# joint1_upper_limit = joints_info[joint_names[0]]['upper_limit']
+# joint2_lower_limit = joints_info[joint_names[1]]['lower_limit']
+# joint2_upper_limit = joints_info[joint_names[1]]['upper_limit']
+
+
+# 4. Joint limits and limit differences
+joint_limits = {}
+joint_limit_diffs = {}
+
+for i, joint_name in enumerate(joint_names):
+    joint_limits[joint_name] = {
+        'lower': joints_info[joint_name]['lower_limit'],
+        'upper': joints_info[joint_name]['upper_limit']
+    }
+    joint_limit_diffs[joint_name] = (
+        joints_info[joint_name]['upper_limit'] - joints_info[joint_name]['lower_limit']
+    )
+# joint_limit_diff1 = joint_limit_diffs[joint_names[0]]
+# joint_limit_diff2 = joint_limit_diffs[joint_names[1]]
+
+
+class DampingCabinet6Control(BehaviorScript):
+    def on_init(self):
+        self.phsx_freq = 120
+        self.joint_handles = []
+        self.dc = _dynamic_control.acquire_dynamic_control_interface() 
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+   
+    def on_destroy(self):
+        pass
+
+    def on_play(self):
+        # Initialize simulation context
+        self.simulation_context = SimulationContext(
+            stage_units_in_meters=1.0,
+            physics_dt=1.0/120,
+            rendering_dt=1.0/120
+        )
+       
+    def on_pause(self):
+        pass
+
+    def on_stop(self):
+        self.init_start=True
+        pass
+
+    def on_update(self, current_time: float, delta_time: float):
+        if delta_time <= 0:
+            return
+        self.active_art()
+        self.apply_behavior() 
+
+    def active_art(self):
+        # Find Root
+        self.art = self.dc.get_articulation(root_articulation_prim)
+        if self.art == _dynamic_control.INVALID_HANDLE:
+            print('the prim is not an articulation')
+        self.dc.wake_up_articulation(self.art)
+        
+        # Find joint  
+        self.joint_handles = []
+        for joint_name in joint_names:
+            self.joint_handles.append( self.dc.find_articulation_dof(self.art, joint_name))
+    
+    def apply_behavior(self):
+        self.target_pose_control()
+        self.damping_stiffness_change()
+    
+    def damping_stiffness_change(self):
+        stage = omni.usd.get_context().get_stage()
+        # Process all joints
+        for i, joint_name in enumerate(joint_names):
+            # Get joint state
+            joint_state = self.dc.get_dof_state(self.joint_handles[i], _dynamic_control.STATE_ALL).pos
+            # Get joint drive API
+            joint_drive_path = stage.GetPrimAtPath(find_prim_path_by_name(joint_name))
+            joint_drive = UsdPhysics.DriveAPI.Get(joint_drive_path, "linear")
+            # Get joint limit difference and set stiffness
+            joint_limit_diff = joint_limit_diffs[joint_names[i]]
+            joint_drive.GetStiffnessAttr().Set(calculate_stiffness(joint_state, joint_limit_diff))
+            # stiffness = joint_drive.GetStiffnessAttr().Get()
+            # damping = joint_drive.GetDampingAttr().Get()
+            # print(f"{joint_name} - Stiffness: {stiffness}, Damping: {damping}")
+            
+    def target_pose_control(self):
+        # Process all joints
+        for i, joint_handle in enumerate(self.joint_handles):
+            # Get joint state
+            joint_state = self.dc.get_dof_state(joint_handle, _dynamic_control.STATE_ALL).pos
+            # Get joint limit difference
+            joint_limit_diff = joint_limit_diffs[joint_names[i]]
+            # Set target position based on joint state
+            if joint_state > -0.1:
+                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['upper_limit'])
+            else:
+                self.dc.set_dof_position_target(joint_handle, joints_info[joint_names[i]]['lower_limit']) 
+            
+        
diff --git a/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/img/2793a4a02bafe613e46589e794c532c3.png b/objects/019adad0-e6e3-756b-a4ef-d92e903c2a05/resource/img/2793a4a02bafe613e46589e794c532c3.png
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+    body_type: "dynamic"
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+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "left_back_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.584866, 0.3175, 0.007153]
+    quat: [0.99996, 0.001175, -0.002456, 0.008491]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "right_front_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.583074, -0.241556, 0.007153]
+    quat: [0.008797, 0.002477, 0.001133, 0.999958]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "left_front_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.583074, 0.3175, 0.007153]
+    quat: [0.008797, 0.002477, 0.001133, 0.999958]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "right_side_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.008224, -0.790681, 0.006438]
+    quat: [0.689307, 0.002326, -0.000776, 0.724466]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "left_side_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.008226, 0.736375, 0.006438]
+    quat: [-0.692441, 0.000881, 0.002288, 0.721471]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "bowl"
+    id: "f839150a-7969-4c10-a074-7593a4291e92"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.020746, 0.009013, 0.761263]
+    quat: [0.99997, -0.002043, -0.000621, 0.007467]
+    scale: [0.0679, 0.0679, 0.0679]
+  - name: "fork"
+    id: "5d132a45-2620-4f1a-88f5-756b7e5c262b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.278821, -0.444339, 0.769812]
+    quat: [-0.499268, 0.493046, -0.500598, 0.506989]
+    scale: [0.1409, 0.1409, 0.1409]
+  - name: "milk_box"
+    id: "f52c4d04-17a4-45dc-9351-162b5359b21c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.157899, 0.229774, 0.762611]
+    quat: [0.999767, 0.000838, -0.002952, 0.02135]
+    scale: [1.3223, 1.3223, 1.3223]
+  - name: "mug"
+    id: "acaa193f-5c10-4840-936a-7b0b9bb8f59a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.074344, -0.211919, 0.761178]
+    quat: [0.99005, 0.002592, -0.001011, 0.14069]
+    scale: [0.0604, 0.0604, 0.0604]
+  - name: "right_white_plate"
+    id: "21a00ca9-a391-47af-bf11-9eee5b0ec871"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.189861, -0.255198, 0.762432]
+    quat: [0.996602, -0.00072, -0.00034, -0.082365]
+    scale: [0.439757, 0.439757, 0.439757]
+  - name: "left_white_plate"
+    id: "21a00ca9-a391-47af-bf11-9eee5b0ec871"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.189861, 0.297648, 0.762571]
+    quat: [0.996602, -0.000205, 0.000455, -0.082365]
+    scale: [0.439757, 0.439757, 0.439757]
+  - name: "front_white_plate"
+    id: "21a00ca9-a391-47af-bf11-9eee5b0ec871"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.270703, -0.005457, 0.762428]
+    quat: [0.996601, 0.000219, -0.001757, -0.082367]
+    scale: [0.439757, 0.439757, 0.439757]
+  - name: "egg_in_bowl_middle"
+    id: "c562279e-03ee-4242-b85d-f18cf4af4afc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.008765, 0.013398, 0.78264]
+    quat: [0.662819, -0.269965, -0.656432, 0.238511]
+    scale: [0.029925, 0.029925, 0.029925]
+  - name: "egg_in_bowl_right"
+    id: "c562279e-03ee-4242-b85d-f18cf4af4afc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.044902, -0.021995, 0.78264]
+    quat: [-0.565501, 0.369734, 0.592719, -0.438394]
+    scale: [0.029925, 0.029925, 0.029925]
+  - name: "egg_in_bowl_left"
+    id: "c562279e-03ee-4242-b85d-f18cf4af4afc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.048123, 0.040967, 0.78264]
+    quat: [-0.538679, 0.36001, 0.673977, -0.354927]
+    scale: [0.029925, 0.029925, 0.029925]
+  - name: "straw"
+    id: "6b2e8725-0973-4172-98b1-2f2f024c73aa"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.054581, 0.157794, 0.82]
+    quat: [0.529812, -0.118411, 0.174267, 0.821528]
+    scale: [0.009967, 0.009967, 0.009967]
+  - name: "right_toast"
+    id: "d28a3534-c921-4624-bec0-52dfa7161663"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.164636, -0.234046, 0.757112]
+    quat: [0.921388, 0.001428, -0.034726, 0.387086]
+    scale: [0.011232, 0.011232, 0.011232]
+  - name: "left_toast"
+    id: "d28a3534-c921-4624-bec0-52dfa7161663"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.194123, 0.291756, 0.752183]
+    quat: [-0.612622, -0.001148, -0.002549, 0.790371]
+    scale: [0.011232, 0.011232, 0.011232]
+  - name: "fried_egg"
+    id: "dbd78dfa-dee2-42e8-845f-9794f206d90f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.142445, -0.300346, 0.785738]
+    quat: [-0.564788, -0.042539, -0.017587, 0.823951]
+    scale: [0.0294, 0.0294, 0.0294]
+  - name: "glass_cup"
+    id: "89aac4c9-2e1f-4a57-b475-f6baacfa5c46"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.054874, 0.1743, 0.761981]
+    quat: [0.977696, 1.4e-05, 1.0e-05, 0.210027]
+    scale: [0.000839, 0.000839, 0.000839]
+  - name: "banana"
+    id: "57ff24de-b287-4d6d-a122-070834cc9ed3"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.21323, -0.012224, 0.824656]
+    quat: [-0.493475, -0.477432, 0.568573, -0.453064]
+    scale: [0.017568, 0.017568, 0.017568]
+  - name: "wall_picture"
+    id: "2993088a-6fc4-4e1e-bd12-3db1184eb142"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.009078, 1.510159, 1.29278]
+    quat: [0.999963, -0.006064, -0.000199, 0.006101]
+    scale: [0.390567, 0.390567, 0.390567]
+  - name: "flowers_with_the_vase"
+    id: "1911b0f5-c6ba-4e92-accf-9d95bc4e724b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.242478, -0.381452, 0.755147]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.227792, 0.227792, 0.227792]
diff --git a/scenes/dining_room_scene2/dining_room_scene2.yaml b/scenes/dining_room_scene2/dining_room_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a36abd65997bd2bd233ca1edbc7505da9cbbe0a5
--- /dev/null
+++ b/scenes/dining_room_scene2/dining_room_scene2.yaml
@@ -0,0 +1,159 @@
+Robot:
+  type: "Panda"
+  pos: [-0.447474, 0.041319, 0.78389]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "dinner_table"
+    id: "8d7a757d-e63f-427d-9430-99b1e455302d"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.006717]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.982036, 0.982036, 0.982036]
+  - name: "curtain"
+    id: "40bdf5fe-dbe1-4707-8086-5f03994e5ca0"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [1.042948, 0.196661, 0.31208]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.5, 0.5, 0.5]
+  - name: "right_back_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.584865, -0.241556, 0.007154]
+    quat: [0.99996, 0.001167, -0.002461, 0.008491]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "left_back_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.584866, 0.3175, 0.007153]
+    quat: [0.99996, 0.001175, -0.002456, 0.008491]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "right_front_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.683074, -0.241556, 0.007153]
+    quat: [0.008797, 0.002477, 0.001133, 0.999958]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "left_front_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.683074, 0.3175, 0.007153]
+    quat: [0.008797, 0.002477, 0.001133, 0.999958]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "right_side_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.008224, -0.790681, 0.006438]
+    quat: [0.689307, 0.002326, -0.000776, 0.724466]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "left_side_chair"
+    id: "98c16855-f6cc-41ce-876e-944dee986910"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.008226, 0.736375, 0.006438]
+    quat: [-0.692441, 0.000881, 0.002288, 0.721471]
+    scale: [0.685344, 0.685344, 0.685344]
+  - name: "bread_rectangle_shape"
+    id: "a0c6a447-78c0-48f3-8f44-7dce86ba80f0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.102702, 0.117935, 0.78117]
+    quat: [0.990511, 0.009865, 0.013915, 0.136372]
+    scale: [0.0545, 0.0218, 0.0218]
+  - name: "bread_arc_shape"
+    id: "faa35475-ba5e-4a14-95a6-3197808d6c49"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.10235, 0.045474, 0.781096]
+    quat: [0.052977, -0.012895, -5.0e-05, 0.998512]
+    scale: [0.0545, 0.0545, 0.0545]
+  - name: "breadbasket"
+    id: "e100a9ae-74cd-47b7-9551-c683e0b97e12"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.106815, 0.087462, 0.763834]
+    quat: [-0.707106, 6.1e-05, -5.8e-05, 0.707108]
+    scale: [0.1481, 0.1481, 0.1481]
+  - name: "tissue_box"
+    id: "82747666-28df-40d9-86dd-8e409478510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.091709, -0.171283, 0.762935]
+    quat: [0.860408, 7.8e-05, 5.8e-05, 0.509605]
+    scale: [0.0973, 0.0973, 0.0973]
+  - name: "left_white_plate"
+    id: "21a00ca9-a391-47af-bf11-9eee5b0ec871"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.149067, 0.399861, 0.762552]
+    quat: [0.995148, 5.6e-05, -4.1e-05, -0.098393]
+    scale: [0.439757, 0.439757, 0.439757]
+  - name: "cooking_kettle"
+    id: "ca75d88c-3efa-4690-b38b-08260de50d04"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.168826, -0.106373, 0.763416]
+    quat: [0.996593, -3.5e-05, 4.3e-05, -0.082478]
+    scale: [0.1251, 0.1251, 0.1251]
+  - name: "wall_picture"
+    id: "2993088a-6fc4-4e1e-bd12-3db1184eb142"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.190922, 1.510159, 1.29278]
+    quat: [0.999963, -0.006064, -0.000199, 0.006101]
+    scale: [0.5, 0.5, 0.5]
+  - name: "coffee_mug"
+    id: "84450536-e5a3-4a64-87f1-4c1b5b48b606"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.140899, -0.427197, 0.761247]
+    quat: [0.431943, -0.000116, -0.000221, 0.901901]
+    scale: [0.0617, 0.0617, 0.0617]
+  - name: "cola_bottle"
+    id: "53ece91a-9d1b-4e76-a6fc-47ff78e50d60"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.066058, 0.097875, 0.753604]
+    quat: [0.998382, 0.022752, 0.052096, 0.001187]
+    scale: [0.1701, 0.1701, 0.1701]
+  - name: "bowl"
+    id: "f839150a-7969-4c10-a074-7593a4291e92"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.129523, 0.239544, 0.76126]
+    quat: [0.999032, 0.002312, 0.003831, -0.043753]
+    scale: [0.0679, 0.0679, 0.0679]
+  - name: "egg_in_bowl_middle"
+    id: "c562279e-03ee-4242-b85d-f18cf4af4afc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.169743, 0.233183, 0.790289]
+    quat: [-0.444847, 0.347362, 0.619474, 0.545622]
+    scale: [0.029925, 0.029925, 0.029925]
+  - name: "egg_in_bowl_right"
+    id: "c562279e-03ee-4242-b85d-f18cf4af4afc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.121556, 0.226031, 0.789655]
+    quat: [-0.380174, 0.67596, 0.012981, -0.631171]
+    scale: [0.029925, 0.029925, 0.029925]
+  - name: "egg_in_bowl_left"
+    id: "c562279e-03ee-4242-b85d-f18cf4af4afc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.127429, 0.273249, 0.789888]
+    quat: [0.721648, -0.498927, -0.472962, 0.081255]
+    scale: [0.029925, 0.029925, 0.029925]
+  - name: "green_vegetable"
+    id: "2e7ba4d4-d3d9-42df-a6d3-56eefa27ae21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.086324, 0.424575, 0.794868]
+    quat: [0.277308, -0.333501, -0.625398, 0.648656]
+    scale: [0.082, 0.082, 0.082]
diff --git a/scenes/libero_kitchen_scene1/libero_kitchen_scene1.yaml b/scenes/libero_kitchen_scene1/libero_kitchen_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..40f22bfa3c1d21476dcb09afd84e962ae6f8ffd9
--- /dev/null
+++ b/scenes/libero_kitchen_scene1/libero_kitchen_scene1.yaml
@@ -0,0 +1,77 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.087771, -0.224777, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.127492, 0.216104, 0.802513]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.5, 0.5, 0.5]
+  - name: "white_bowl"
+    id: "99df5a09-b8b2-4284-9ea5-22658b5fa94b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.11855, -0.00916, 0.79841]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.5, 0.5, 0.5]
diff --git a/scenes/libero_kitchen_scene10/libero_kitchen_scene10.yaml b/scenes/libero_kitchen_scene10/libero_kitchen_scene10.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ee29df97c75b629c4b9c00bbcadea7082f569197
--- /dev/null
+++ b/scenes/libero_kitchen_scene10/libero_kitchen_scene10.yaml
@@ -0,0 +1,91 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.087771, -0.224777, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.119039, 0.010605, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "back_butter"
+    id: "1c033ccb-ef18-4ec6-ab35-bad188771fe7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.034767, 0.116688, 0.807588]
+    quat: [0.002712, -0.002569, 0.70137, 0.712788]
+    scale: [0.005, 0.005, 0.005]
+  - name: "front_butter"
+    id: "1c033ccb-ef18-4ec6-ab35-bad188771fe7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.098228, 0.134511, 0.807588]
+    quat: [0.002702, -0.002579, 0.701363, 0.712794]
+    scale: [0.005, 0.005, 0.005]
+  - name: "chocolate_pudding"
+    id: "f889c647-e4a6-480d-b870-4969b735e50a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.035893, 0.049724, 0.80872]
+    quat: [-0.70251, 0.711625, -0.006981, 0.004652]
+    scale: [0.005, 0.005, 0.005]
diff --git a/scenes/libero_kitchen_scene11/libero_kitchen_scene11.yaml b/scenes/libero_kitchen_scene11/libero_kitchen_scene11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7073afa1ef6ed000c948546bad4ac97523acde89
--- /dev/null
+++ b/scenes/libero_kitchen_scene11/libero_kitchen_scene11.yaml
@@ -0,0 +1,90 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.102785, -0.22313, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.02707, 0.003154, 0.802513]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "white_bowl_1"
+    id: "99df5a09-b8b2-4284-9ea5-22658b5fa94b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.116467, -0.214918, 0.956]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "white_bowl_2"
+    id: "99df5a09-b8b2-4284-9ea5-22658b5fa94b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.116467, -0.214918, 0.888]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "white_bowl_3"
+    id: "99df5a09-b8b2-4284-9ea5-22658b5fa94b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.116467, -0.214918, 0.819]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
diff --git a/scenes/libero_kitchen_scene2/libero_kitchen_scene2.yaml b/scenes/libero_kitchen_scene2/libero_kitchen_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a4c9bd7437e1139889b643d91cc832d92e2d1386
--- /dev/null
+++ b/scenes/libero_kitchen_scene2/libero_kitchen_scene2.yaml
@@ -0,0 +1,91 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.087771, -0.224777, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.042884, 0.039086, 0.802513]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "front_bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.197892, 0.096959, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "left_bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.092092, 0.217833, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "back_bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.022423, 0.184027, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
diff --git a/scenes/libero_kitchen_scene3/libero_kitchen_scene3.yaml b/scenes/libero_kitchen_scene3/libero_kitchen_scene3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e5628f01768482a911220eeb00da4af4fd3405b6
--- /dev/null
+++ b/scenes/libero_kitchen_scene3/libero_kitchen_scene3.yaml
@@ -0,0 +1,49 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.176216, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "flat_stove"
+    id: "88830e98-7ab8-4cf4-8d5f-18a229861b4b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.22571, 0.260145, 0.79841]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.6, 0.6, 0.6]
+    joints:
+      - name: "RevoluteJoint_cooker001_left"
+        prim_path: "/World/flat_stove/E_knob_1/RevoluteJoint_cooker001_left"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_1"
+        limit: [0.0, 180.0]
+      - name: "RevoluteJoint_cooker001_right"
+        prim_path: "/World/flat_stove/E_knob_2/RevoluteJoint_cooker001_right"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_2"
+        limit: [0.0, 180.0]
+      - name: "FixedJoint"
+        prim_path: "/World/flat_stove/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: ""
+  - name: "pot"
+    id: "50f079f8-d816-4ea2-bee0-d3c66c8e341a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.020658, 0.025104, 0.86611]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "fry_pan"
+    id: "84e72583-a1df-4989-bc4d-36de0a6ec8a1"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.124301, -0.228912, 0.7992]
+    quat: [0.72904, -0.0, -0.0, 0.684471]
diff --git a/scenes/libero_kitchen_scene4/libero_kitchen_scene4.yaml b/scenes/libero_kitchen_scene4/libero_kitchen_scene4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..d28455fe5c24ca4d61a3973e548f20b19fa67aa6
--- /dev/null
+++ b/scenes/libero_kitchen_scene4/libero_kitchen_scene4.yaml
@@ -0,0 +1,82 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.149397, 0.291777, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.052673, -0.00916, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "wine_bottle"
+    id: "e2bc6c01-5c3a-462a-bc02-cf1f5841935b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.188528, 0.073308, 0.798888]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "wine_rack"
+    id: "499190b0-a74a-48bd-9b46-a530fafc7b34"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.094493, -0.330055, 0.801172]
+    quat: [0.0, 0.0, 0.0, 1.0]
diff --git a/scenes/libero_kitchen_scene5/libero_kitchen_scene5.yaml b/scenes/libero_kitchen_scene5/libero_kitchen_scene5.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7aba211edf8a32701169ce8d0254b442d4f06ce4
--- /dev/null
+++ b/scenes/libero_kitchen_scene5/libero_kitchen_scene5.yaml
@@ -0,0 +1,83 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.085085, 0.223589, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.07097, -0.212279, 0.802513]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.012582, -0.018525, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "ketchup"
+    id: "e82f92d1-f1ce-440a-8dbb-c6948d15326b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.150966, -0.069834, 0.870442]
+    quat: [0.679905, -0.006993, -0.007178, 0.733231]
+    scale: [0.009, 0.009, 0.009]
diff --git a/scenes/libero_kitchen_scene6/libero_kitchen_scene6.yaml b/scenes/libero_kitchen_scene6/libero_kitchen_scene6.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..61b086316e6332f645e71afecad4547e1bbf96ea
--- /dev/null
+++ b/scenes/libero_kitchen_scene6/libero_kitchen_scene6.yaml
@@ -0,0 +1,47 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "microwave"
+    id: "2b0978fe-ec75-4288-a93e-9aa621999b48"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.088428, 0.23683, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/microwave/joints/object"
+        type: "fixed"
+        parent_link: "/World/microwave/_body_0/_body_0"
+        child_link: "/World/microwave/_body_0/object"
+      - name: "microjoint"
+        prim_path: "/World/microwave/joints/microjoint"
+        type: "revolute"
+        parent_link: "/World/microwave/_body_0/object"
+        child_link: "/World/microwave/_body_0/microdoorroot"
+        limit: [-119.977364, 0.0]
+      - name: "FixedJoint"
+        prim_path: "/World/microwave/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/microwave/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "porcelain_mug"
+    id: "7d89b248-cf4f-479e-9720-18dd469b44c7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.115403, -0.208015, 0.79761]
+    quat: [-0.682891, 2.0e-06, 2.0e-06, 0.73052]
+  - name: "white_yellow_mug"
+    id: "19684386-a4b7-41b0-843d-929701b4510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.007262, -0.062807, 0.800097]
+    quat: [0.753949, -5.0e-06, -4.0e-06, -0.656933]
\ No newline at end of file
diff --git a/scenes/libero_kitchen_scene7/libero_kitchen_scene7.yaml b/scenes/libero_kitchen_scene7/libero_kitchen_scene7.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b26de25256ee38af3bdf86cfbdc991b6ad48f975
--- /dev/null
+++ b/scenes/libero_kitchen_scene7/libero_kitchen_scene7.yaml
@@ -0,0 +1,48 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "microwave"
+    id: "2b0978fe-ec75-4288-a93e-9aa621999b48"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.102785, -0.22313, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/microwave/joints/object"
+        type: "fixed"
+        parent_link: "/World/microwave/_body_0/_body_0"
+        child_link: "/World/microwave/_body_0/object"
+      - name: "microjoint"
+        prim_path: "/World/microwave/joints/microjoint"
+        type: "revolute"
+        parent_link: "/World/microwave/_body_0/object"
+        child_link: "/World/microwave/_body_0/microdoorroot"
+        limit: [-119.977364, 0.0]
+      - name: "FixedJoint"
+        prim_path: "/World/microwave/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/microwave/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.087763, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.02707, 0.003154, 0.802513]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "bowl"
+    id: "99df5a09-b8b2-4284-9ea5-22658b5fa94b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.116467, -0.214918, 0.98382]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
diff --git a/scenes/libero_kitchen_scene8/libero_kitchen_scene8.yaml b/scenes/libero_kitchen_scene8/libero_kitchen_scene8.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..adfad32d6de4a5560f43c0f9efb5adf13624f167
--- /dev/null
+++ b/scenes/libero_kitchen_scene8/libero_kitchen_scene8.yaml
@@ -0,0 +1,49 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "flat_stove"
+    id: "88830e98-7ab8-4cf4-8d5f-18a229861b4b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.242326, -0.184236, 0.79841]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.6, 0.6, 0.6]
+    joints:
+      - name: "RevoluteJoint_cooker001_left"
+        prim_path: "/World/flat_stove/E_knob_1/RevoluteJoint_cooker001_left"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_1"
+        limit: [0.0, 180.0]
+      - name: "RevoluteJoint_cooker001_right"
+        prim_path: "/World/flat_stove/E_knob_2/RevoluteJoint_cooker001_right"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_2"
+        limit: [0.0, 180.0]
+      - name: "FixedJoint"
+        prim_path: "/World/flat_stove/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.167152, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "pot_right"
+    id: "50f079f8-d816-4ea2-bee0-d3c66c8e341a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.020658, 0.025104, 0.86611]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "pot_left"
+    id: "50f079f8-d816-4ea2-bee0-d3c66c8e341a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.062415, 0.18764, 0.86611]
+    quat: [0.0, 0.0, 0.0, 1.0]
diff --git a/scenes/libero_kitchen_scene9/libero_kitchen_scene9.yaml b/scenes/libero_kitchen_scene9/libero_kitchen_scene9.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ea024b85a6de60ace3911361923c532542bb6074
--- /dev/null
+++ b/scenes/libero_kitchen_scene9/libero_kitchen_scene9.yaml
@@ -0,0 +1,56 @@
+Robot:
+  type: "Panda"
+  pos: [-0.7, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "flat_stove"
+    id: "88830e98-7ab8-4cf4-8d5f-18a229861b4b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.22571, 0.323523, 0.79841]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.6, 0.6, 0.6]
+    joints:
+      - name: "RevoluteJoint_cooker001_left"
+        prim_path: "/World/flat_stove/E_knob_1/RevoluteJoint_cooker001_left"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_1"
+        limit: [0.0, 180.0]
+      - name: "RevoluteJoint_cooker001_right"
+        prim_path: "/World/flat_stove/E_knob_2/RevoluteJoint_cooker001_right"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_2"
+        limit: [0.0, 180.0]
+      - name: "FixedJoint"
+        prim_path: "/World/flat_stove/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.090486, 0.08333, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+  - name: "white_bowl"
+    id: "99df5a09-b8b2-4284-9ea5-22658b5fa94b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.170667, 0.044835, 0.79944]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "fry_pan"
+    id: "84e72583-a1df-4989-bc4d-36de0a6ec8a1"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.005284, -0.057607, 0.7992]
+    quat: [0.72904, -0.0, -0.0, 0.684471]
+  - name: "wooden_two_layer_shelf"
+    id: "6a0961e3-da23-48aa-a142-0b121893c59a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.029079, -0.243213, 0.7998]
+    quat: [0.0, 0.0, 0.0, 1.0]
diff --git a/scenes/libero_livingroom_scene1/libero_livingroom_scene1.yaml b/scenes/libero_livingroom_scene1/libero_livingroom_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bf2e04b1f575bf71ca87c2ab763501b1457e5aba
--- /dev/null
+++ b/scenes/libero_livingroom_scene1/libero_livingroom_scene1.yaml
@@ -0,0 +1,45 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "ketchup"
+    id: "e82f92d1-f1ce-440a-8dbb-c6948d15326b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.005458, 0.108783, 0.506618]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.01, 0.01, 0.01]
+  - name: "tomato_sauce"
+    id: "f00a8a35-983c-4aba-9844-b241dcbe9267"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.265376, 0.052773, 0.47161]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.01, 0.01, 0.01]
+  - name: "cream_cheese"
+    id: "bca84105-444d-4df3-9eab-396068bfe8bf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.034105, 0.320943, 0.440736]
+    quat: [-0.0, -0.0, -0.707107, 0.707107]
+    scale: [0.008, 0.008, 0.008]
+  - name: "alphabet_soup"
+    id: "3dc35556-3e28-4c90-9c65-ce8d9f4cacfc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.21288, 0.138278, 0.472062]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.01, 0.01, 0.01]
+  - name: "basket"
+    id: "5b0b1ad5-87dd-4066-a956-adb3af289ddf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.168203, 0.498376, 0.423792]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
diff --git a/scenes/libero_livingroom_scene2/libero_livingroom_scene2.yaml b/scenes/libero_livingroom_scene2/libero_livingroom_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..48dc2e9faa9ed5617af82fe8d791501d467bb579
--- /dev/null
+++ b/scenes/libero_livingroom_scene2/libero_livingroom_scene2.yaml
@@ -0,0 +1,66 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "ketchup"
+    id: "e82f92d1-f1ce-440a-8dbb-c6948d15326b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.048103, 0.11503, 0.506629]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.01, 0.01, 0.01]
+  - name: "tomato_sauce"
+    id: "f00a8a35-983c-4aba-9844-b241dcbe9267"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.054509, 0.279879, 0.471608]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.01, 0.01, 0.01]
+  - name: "cream_cheese"
+    id: "bca84105-444d-4df3-9eab-396068bfe8bf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.238476, 0.038294, 0.440735]
+    quat: [0.0, -0.0, -0.707107, 0.707107]
+    scale: [0.008, 0.008, 0.008]
+  - name: "alphabet_soup"
+    id: "3dc35556-3e28-4c90-9c65-ce8d9f4cacfc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.047137, 0.078293, 0.472062]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.01, 0.01, 0.01]
+  - name: "orange_juice"
+    id: "5d5ccc14-b511-44d2-9962-c018f5c2d85a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.154801, -0.013711, 0.505153]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0075, 0.0075, 0.0075]
+  - name: "milk"
+    id: "8a76b907-00c8-4adb-ba8d-b3fd14b177fb"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.163375, 0.15148, 0.504423]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0075, 0.0075, 0.0075]
+  - name: "butter"
+    id: "1c033ccb-ef18-4ec6-ab35-bad188771fe7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.193328, 0.285552, 0.439742]
+    quat: [0.0, 0.0, 0.707107, 0.707107]
+    scale: [0.0075, 0.0075, 0.0075]
+  - name: "basket"
+    id: "5b0b1ad5-87dd-4066-a956-adb3af289ddf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.138599, 0.509726, 0.423792]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
diff --git a/scenes/libero_livingroom_scene3/libero_livingroom_scene3.yaml b/scenes/libero_livingroom_scene3/libero_livingroom_scene3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a4eb4b312abdff67c1cddbe8a9695d48decaa0ef
--- /dev/null
+++ b/scenes/libero_livingroom_scene3/libero_livingroom_scene3.yaml
@@ -0,0 +1,52 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "ketchup"
+    id: "e82f92d1-f1ce-440a-8dbb-c6948d15326b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.048103, 0.11503, 0.506629]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.01, 0.01, 0.01]
+  - name: "tomato_sauce"
+    id: "f00a8a35-983c-4aba-9844-b241dcbe9267"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.054509, 0.279879, 0.471608]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.01, 0.01, 0.01]
+  - name: "cream_cheese"
+    id: "bca84105-444d-4df3-9eab-396068bfe8bf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.238476, 0.038294, 0.440735]
+    quat: [0.0, -0.0, -0.707107, 0.707107]
+    scale: [0.008, 0.008, 0.008]
+  - name: "alphabet_soup"
+    id: "3dc35556-3e28-4c90-9c65-ce8d9f4cacfc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.075139, 0.117321, 0.472062]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.01, 0.01, 0.01]
+  - name: "butter"
+    id: "1c033ccb-ef18-4ec6-ab35-bad188771fe7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.193328, 0.285552, 0.439742]
+    quat: [0.0, 0.0, 0.707107, 0.707107]
+    scale: [0.0075, 0.0075, 0.0075]
+  - name: "wooden_tray"
+    id: "f60b0af1-fbea-4616-82ab-5a906b30645d"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.112742, 0.53887, 0.428981]
+    quat: [1.0, 0.0, 0.0, 0.0]
diff --git a/scenes/libero_livingroom_scene4/libero_livingroom_scene4.yaml b/scenes/libero_livingroom_scene4/libero_livingroom_scene4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1699057f74a675f11f017d60d04dae4388a6bf69
--- /dev/null
+++ b/scenes/libero_livingroom_scene4/libero_livingroom_scene4.yaml
@@ -0,0 +1,45 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "salad_dressing"
+    id: "a145b053-2cf2-4e3e-b3f1-62115322e0db"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.058282, 0.136341, 0.506599]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.01, 0.01, 0.01]
+  - name: "chocolate_pudding"
+    id: "f889c647-e4a6-480d-b870-4969b735e50a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.26182, 0.038035, 0.445799]
+    quat: [0.0, 0.0, -0.707107, 0.707107]
+    scale: [0.01, 0.01, 0.01]
+  - name: "wooden_tray"
+    id: "f60b0af1-fbea-4616-82ab-5a906b30645d"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.112742, 0.53887, 0.428981]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "left_akita_black_bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.075, 0.300259, 0.42677]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.5, 0.5, 0.5]
+  - name: "right_akita_black_bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.075139, 0.117321, 0.472062]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.5, 0.5, 0.5]
diff --git a/scenes/libero_livingroom_scene5/libero_livingroom_scene5.yaml b/scenes/libero_livingroom_scene5/libero_livingroom_scene5.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1b84cca7ac16c9e01e3b2e8b12beb32bcdf01682
--- /dev/null
+++ b/scenes/libero_livingroom_scene5/libero_livingroom_scene5.yaml
@@ -0,0 +1,41 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "red_coffee_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.075724, 0.214478, 0.430199]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "porcelain_mug"
+    id: "7d89b248-cf4f-479e-9720-18dd469b44c7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.072263, 0.080457, 0.42597]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "white_yellow_mug"
+    id: "19684386-a4b7-41b0-843d-929701b4510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.105849, 0.334605, 0.428457]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "left_plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.154057, 0.529093, 0.430873]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "right_plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.174575, -0.068706, 0.430873]
+    quat: [1.0, 0.0, 0.0, 0.0]
diff --git a/scenes/libero_livingroom_scene6/libero_livingroom_scene6.yaml b/scenes/libero_livingroom_scene6/libero_livingroom_scene6.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..75db022e74f124dd428f9495ab2395ded704499d
--- /dev/null
+++ b/scenes/libero_livingroom_scene6/libero_livingroom_scene6.yaml
@@ -0,0 +1,36 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "chocolate_pudding"
+    id: "f889c647-e4a6-480d-b870-4969b735e50a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.105849, 0.334605, 0.428457]
+    quat: [0.0, 0.0, -0.707107, 0.707107]
+    scale: [0.01, 0.01, 0.01]
+  - name: "red_coffee_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.075724, 0.214478, 0.430199]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "porcelain_mug"
+    id: "7d89b248-cf4f-479e-9720-18dd469b44c7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.072263, 0.080457, 0.42597]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.248141, 0.223257, 0.430873]
+    quat: [1.0, 0.0, 0.0, 0.0]
diff --git a/scenes/libero_office_custom_scene/libero_office_custom_scene.yaml b/scenes/libero_office_custom_scene/libero_office_custom_scene.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9504f9c339ea9ec32591a26490f55d372c39f99b
--- /dev/null
+++ b/scenes/libero_office_custom_scene/libero_office_custom_scene.yaml
@@ -0,0 +1,60 @@
+Robot:
+  type: "Panda"
+  pos: [-0.363217, 0.225123, 0.439]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_living_room_table"
+    id: "015f2c7f-ad68-4a1b-8f79-3295ad4c6e52"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "red_coffee_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.153337, -0.026053, 0.430199]
+    quat: [-0.598067, 3.0e-06, -0.0, 0.801446]
+  - name: "black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.191024, 0.518499, 0.42619]
+    quat: [-0.57111, 1.7e-05, 1.0e-05, 0.820873]
+  - name: "yellow_book"
+    id: "14f1204f-8700-414b-8f26-12b68c5a2fbf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.097754, 0.418287, 0.426391]
+    quat: [-0.422309, -2.4e-05, -1.4e-05, 0.906452]
+  - name: "orange_juice"
+    id: "5d5ccc14-b511-44d2-9962-c018f5c2d85a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.051312, -0.012431, 0.505153]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0075, 0.0075, 0.0075]
+  - name: "wine_bottle"
+    id: "e2bc6c01-5c3a-462a-bc02-cf1f5841935b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.016039, 0.311977, 0.427249]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "white_storage_box"
+    id: "83ffaf43-ad72-41c9-879d-2e898cc90477"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.291735, 0.034574, 0.426005]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "wooden_two_layer_shelf"
+    id: "6a0961e3-da23-48aa-a142-0b121893c59a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.080808, 0.609362, 0.42816]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "wine_rack"
+    id: "499190b0-a74a-48bd-9b46-a530fafc7b34"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.097691, -0.077176, 0.429533]
+    quat: [1.0, 0.0, 0.0, 0.0]
diff --git a/scenes/libero_study_table_custom_scene/libero_study_table_custom_scene.yaml b/scenes/libero_study_table_custom_scene/libero_study_table_custom_scene.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c5422f150c346a63985b4a3c46a0f7a885606e58
--- /dev/null
+++ b/scenes/libero_study_table_custom_scene/libero_study_table_custom_scene.yaml
@@ -0,0 +1,47 @@
+Robot:
+  type: "Panda"
+  pos: [-0.55982, -0.009104, 0.886504]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_study_table"
+    id: "d3e3cf9e-8d2e-4fac-bc66-6ba5831512bd"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "desk_caddy"
+    id: "09aa8fd6-6d19-4681-817e-9f7c7197cd5e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.343095, -0.14495, 0.88374]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "white_yellow_mug"
+    id: "19684386-a4b7-41b0-843d-929701b4510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.107097, 0.194839, 0.953187]
+    quat: [0.0, -0.707107, -0.0, 0.707107]
+  - name: "black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.127583, -0.315247, 0.88296]
+    quat: [-0.461745, -4.0e-06, -8.0e-06, 0.887013]
+  - name: "the_yellow_book_on_top"
+    id: "14f1204f-8700-414b-8f26-12b68c5a2fbf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.013794, -0.123264, 0.918816]
+    quat: [-0.707107, 0.0, 0.707107, 0.0]
+  - name: "the_yellow_book_on_the_bottom"
+    id: "14f1204f-8700-414b-8f26-12b68c5a2fbf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.032176, -0.084513, 0.895267]
+    quat: [-0.707107, 0.0, 0.707107, 0.0]
+  - name: "red_coffee_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.149491, 0.023908, 0.934947]
+    quat: [-0.003752, 0.679108, -0.024527, 0.733619]
diff --git a/scenes/libero_study_table_scene1/libero_study_table_scene1.yaml b/scenes/libero_study_table_scene1/libero_study_table_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c822be18f414411d0c9871ad27849fe4eb67fd7f
--- /dev/null
+++ b/scenes/libero_study_table_scene1/libero_study_table_scene1.yaml
@@ -0,0 +1,29 @@
+Robot:
+  type: "Panda"
+  pos: [-0.55982, -0.009104, 0.886504]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_study_table"
+    id: "d3e3cf9e-8d2e-4fac-bc66-6ba5831512bd"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "desk_caddy"
+    id: "09aa8fd6-6d19-4681-817e-9f7c7197cd5e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.343095, -0.14495, 0.88374]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "white_yellow_mug"
+    id: "19684386-a4b7-41b0-843d-929701b4510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.039932, -0.030849, 0.885226]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.114248, 0.124157, 0.88296]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
diff --git a/scenes/libero_study_table_scene2/libero_study_table_scene2.yaml b/scenes/libero_study_table_scene2/libero_study_table_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f00071637fd7bca8ea9f14d802f7fe1b767ecda2
--- /dev/null
+++ b/scenes/libero_study_table_scene2/libero_study_table_scene2.yaml
@@ -0,0 +1,29 @@
+Robot:
+  type: "Panda"
+  pos: [-0.55982, -0.009104, 0.886504]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_study_table"
+    id: "d3e3cf9e-8d2e-4fac-bc66-6ba5831512bd"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "desk_caddy"
+    id: "09aa8fd6-6d19-4681-817e-9f7c7197cd5e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.343095, -0.14495, 0.88374]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.126945, -0.080057, 0.88296]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "red_coffee_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.13817, 0.124157, 0.886969]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
diff --git a/scenes/libero_study_table_scene3/libero_study_table_scene3.yaml b/scenes/libero_study_table_scene3/libero_study_table_scene3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..aecc2b7354456ff0fbd8eef5aa082718f9640fec
--- /dev/null
+++ b/scenes/libero_study_table_scene3/libero_study_table_scene3.yaml
@@ -0,0 +1,35 @@
+Robot:
+  type: "Panda"
+  pos: [-0.55982, -0.009104, 0.886504]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_study_table"
+    id: "d3e3cf9e-8d2e-4fac-bc66-6ba5831512bd"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "desk_caddy"
+    id: "09aa8fd6-6d19-4681-817e-9f7c7197cd5e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.343095, -0.14495, 0.88374]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.115509, -0.148249, 0.88296]
+    quat: [-0.452488, -3.0e-06, -7.0e-06, 0.891771]
+  - name: "red_coffee_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.013837, 0.13231, 0.886969]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+  - name: "porcelain_mug"
+    id: "7d89b248-cf4f-479e-9720-18dd469b44c7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.170136, -0.01789, 0.88274]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
diff --git a/scenes/libero_study_table_scene4/libero_study_table_scene4.yaml b/scenes/libero_study_table_scene4/libero_study_table_scene4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..81e6f3109a07cf13b94e5c670cea21a7f0b38d3a
--- /dev/null
+++ b/scenes/libero_study_table_scene4/libero_study_table_scene4.yaml
@@ -0,0 +1,35 @@
+Robot:
+  type: "Panda"
+  pos: [-0.55982, -0.009104, 0.886504]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "libero_study_table"
+    id: "d3e3cf9e-8d2e-4fac-bc66-6ba5831512bd"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.0]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "wooden_two_layer_shelf"
+    id: "6a0961e3-da23-48aa-a142-0b121893c59a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.20868, 0.31859, 0.88493]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.148301, -0.075243, 0.88296]
+    quat: [-0.695067, -1.0e-05, -1.0e-05, 0.718945]
+  - name: "left_yellow_book"
+    id: "14f1204f-8700-414b-8f26-12b68c5a2fbf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.206462, 0.066575, 0.883161]
+    quat: [-0.401009, -2.4e-05, -1.2e-05, 0.916074]
+  - name: "right_yellow_book"
+    id: "14f1204f-8700-414b-8f26-12b68c5a2fbf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.19861, -0.166188, 0.883159]
+    quat: [-0.538043, 2.6e-05, 1.7e-05, 0.842918]
diff --git a/scenes/libero_tabletop_scene1/libero_tabletop_scene1.yaml b/scenes/libero_tabletop_scene1/libero_tabletop_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..7502c4815baad0c0b0eb94fc0e21524a65419961
--- /dev/null
+++ b/scenes/libero_tabletop_scene1/libero_tabletop_scene1.yaml
@@ -0,0 +1,120 @@
+Robot:
+  type: "Panda"
+  pos: [-0.55, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.036165, -0.224777, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.101912, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [1.0, 0.8, 0.8]
+  - name: "wine_rack"
+    id: "499190b0-a74a-48bd-9b46-a530fafc7b34"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.253543, -0.213222, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+  - name: "flat_stove"
+    id: "88830e98-7ab8-4cf4-8d5f-18a229861b4b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.206737, 0.354798, 0.803606]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.6, 0.6, 0.6]
+    joints:
+      - name: "RevoluteJoint_cooker001_left"
+        prim_path: "/World/flat_stove/E_knob_1/RevoluteJoint_cooker001_left"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_1"
+        limit: [0.0, 180.0]
+      - name: "RevoluteJoint_cooker001_right"
+        prim_path: "/World/flat_stove/E_knob_2/RevoluteJoint_cooker001_right"
+        type: "revolute"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: "/World/flat_stove/E_knob_2"
+        limit: [0.0, 180.0]
+      - name: "FixedJoint"
+        prim_path: "/World/flat_stove/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/flat_stove/E_body_3"
+        child_link: ""
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.111228, -0.017104, 0.802513]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+  - name: "bowl"
+    id: "2d3175ba-20f0-4092-aece-74dba6313337"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.027891, 0.013859, 0.79841]
+    quat: [0.707107, -0.0, 0.0, 0.707107]
+    scale: [0.5, 0.5, 0.5]
+  - name: "wine_bottle"
+    id: "e2bc6c01-5c3a-462a-bc02-cf1f5841935b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.15921, -0.027942, 0.798889]
+    quat: [0.70711, 3.9e-05, -1.8e-05, 0.707104]
+  - name: "cream_cheese"
+    id: "bca84105-444d-4df3-9eab-396068bfe8bf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.045636, 0.108387, 0.807544]
+    quat: [0.717038, 0.696854, -0.009846, -0.012435]
+    scale: [0.007, 0.007, 0.007]
diff --git a/scenes/libero_tabletop_scene_custom/libero_tabletop_scene_custom.yaml b/scenes/libero_tabletop_scene_custom/libero_tabletop_scene_custom.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c7b3ee73e1c8336b206667bdb425942e87a96de6
--- /dev/null
+++ b/scenes/libero_tabletop_scene_custom/libero_tabletop_scene_custom.yaml
@@ -0,0 +1,143 @@
+Robot:
+  type: "Panda"
+  pos: [-0.505588, 0.0, 0.7]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "wooden_cabinet"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.036379, -0.386, 0.79841]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/wooden_cabinet/joints/object"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: "/World/wooden_cabinet/_body_0/object"
+      - name: "base"
+        prim_path: "/World/wooden_cabinet/joints/base"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/object"
+        child_link: "/World/wooden_cabinet/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/wooden_cabinet/joints/base__"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/wooden_cabinet/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/wooden_cabinet/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/wooden_cabinet/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/wooden_cabinet/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/wooden_cabinet/_body_0/base"
+        child_link: "/World/wooden_cabinet/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_cabinet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_cabinet/_body_0/_body_0"
+        child_link: ""
+  - name: "table"
+    id: "a7a25d36-fd58-4318-8014-67a6dbb23686"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.076281, 0.0, -0.015]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [1.0, 0.8, 0.8]
+  - name: "wooden_shelf"
+    id: "99c82843-a47e-4435-bf31-45abd4843a40"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.10773, 0.319, 0.800452]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "microwave"
+    id: "2b0978fe-ec75-4288-a93e-9aa621999b48"
+    object_type: "Articulation"
+    body_type: "dynamic"
+    pos: [-0.206797, 0.361306, 0.79841]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    joints:
+      - name: "object"
+        prim_path: "/World/microwave/joints/object"
+        type: "fixed"
+        parent_link: "/World/microwave/_body_0/_body_0"
+        child_link: "/World/microwave/_body_0/object"
+      - name: "microjoint"
+        prim_path: "/World/microwave/joints/microjoint"
+        type: "revolute"
+        parent_link: "/World/microwave/_body_0/object"
+        child_link: "/World/microwave/_body_0/microdoorroot"
+        limit: [-119.977364, 0.0]
+  - name: "right_black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.283328, -0.136763, 0.79783]
+    quat: [-0.6, 0.0, 0.0, 0.8]
+  - name: "left_black_book"
+    id: "0b8fa73f-f121-4324-bd92-3cdd551f9978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.269699, 0.035287, 0.79783]
+    quat: [-0.6, 0.0, 0.0, 0.8]
+  - name: "yellow_book"
+    id: "14f1204f-8700-414b-8f26-12b68c5a2fbf"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.275303, -0.040511, 0.798029]
+    quat: [-0.6, 0.0, 0.0, 0.8]
+  - name: "white_storage_box"
+    id: "83ffaf43-ad72-41c9-879d-2e898cc90477"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.278392, -0.346, 0.941512]
+    quat: [0.003974, -0.005558, 0.999977, 2.2e-05]
+  - name: "red_mug"
+    id: "0b0e5064-5e55-4afc-9378-92b6b6bdac21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.191445, 0.297745, 0.987249]
+    quat: [0.718459, -1.2e-05, -1.0e-06, -0.69557]
+  - name: "procelain_mug"
+    id: "7d89b248-cf4f-479e-9720-18dd469b44c7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.029683, -0.415, 1.01901]
+    quat: [0.737677, -1.0e-06, 2.0e-06, -0.675153]
+  - name: "plate"
+    id: "411ed517-4e31-46ec-85c7-a03c9f804efc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.096526, 0.218367, 0.808646]
+    quat: [0.997332, 0.072908, -0.003389, -0.001298]
+  - name: "milk"
+    id: "8a76b907-00c8-4adb-ba8d-b3fd14b177fb"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.030555, -0.110252, 0.873]
+    quat: [0.718601, -0.000268, -0.005412, -0.695402]
+    scale: [0.0075, 0.0075, 0.0075]
+  - name: "macaroni_cheese"
+    id: "a671743c-89e4-4dfa-a20c-c92576650b6b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.037579, -0.028593, 0.859]
+    quat: [-0.700732, 0.000227, 0.001386, 0.713423]
+    scale: [0.007, 0.007, 0.007]
diff --git a/scenes/replica_cad_bathroom_scene1/replica_cad_bathroom_scene1.yaml b/scenes/replica_cad_bathroom_scene1/replica_cad_bathroom_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..94ac61e080f814ab399c172df33a1fc4eee3230d
--- /dev/null
+++ b/scenes/replica_cad_bathroom_scene1/replica_cad_bathroom_scene1.yaml
@@ -0,0 +1,127 @@
+Robot:
+  type: "Panda"
+  pos: [0.0, 0.0, 0.5]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "washbasin_sink"
+    id: "74efb906-5ca5-4509-94f4-5cbaccd6cea9"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.419726, -0.044657, -0.010329]
+    quat: [0.481177, 0.518524, -0.5061, -0.493422]
+    scale: [0.9673, 0.9673, 0.9673]
+  - name: "bathroom_shelf"
+    id: "1f3aa06b-ad13-474e-a743-85fb3fe98971"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.403, 0.456, 0.9]
+    quat: [0.0, -0.0, 0.707107, 0.707107]
+    scale: [0.5, 0.5, 0.5]
+  - name: "faucet"
+    id: "98c8b92d-e38f-4453-bd7b-5005f3112552"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.519975, -0.045936, 0.860494]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.1, 0.1, 0.1]
+    joints:
+      - name: "joint_1"
+        prim_path: "/World/faucet/joints/joint_1"
+        type: "fixed"
+        parent_link: "/World/faucet/base"
+        child_link: "/World/faucet/link_1"
+      - name: "joint_0"
+        prim_path: "/World/faucet/joints/joint_0"
+        type: "revolute"
+        parent_link: "/World/faucet/link_1"
+        child_link: "/World/faucet/link_0"
+        limit: [-90.0, 90.0]
+      - name: "FixedJoint"
+        prim_path: "/World/faucet/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/faucet/base"
+        child_link: ""
+  - name: "cup"
+    id: "a2d178b1-4464-44b6-9906-e0713eef7e34"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.520064, -0.275431, 0.810636]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0906, 0.0906, 0.0906]
+  - name: "toothpaste"
+    id: "7d31ef75-83f0-44c1-bb73-31cabb82416f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.529, -0.278, 0.865007]
+    quat: [0.77298, 0.128005, -0.221356, -0.580619]
+    scale: [0.091, 0.091, 0.091]
+  - name: "pink_perfume"
+    id: "866f1a15-62bf-40dd-8803-dbc0e81945a6"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.400753, 0.34494, 0.920717]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0561, 0.0561, 0.0561]
+  - name: "gray_perfume"
+    id: "b01a4724-2023-4cfc-af06-eee9046e5108"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.531, 0.35, 0.921]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0591, 0.0591, 0.0591]
+  - name: "white_and_blue_shampoo"
+    id: "69ed29ce-1e23-4406-8fc7-c37b6922c529"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.347931, 0.437988, 0.921565]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.1062, 0.1062, 0.1062]
+  - name: "green_and_yellow_shampoo"
+    id: "16e9a99d-e07e-4b2b-b0a1-a6222c21f319"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.489742, 0.426001, 0.92158]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.1003, 0.1003, 0.1003]
+  - name: "soap"
+    id: "da07d463-a45c-438d-9f95-cdc6f381da87"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.507, 0.165, 0.76]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0344, 0.0344, 0.0344]
+  - name: "dustbin"
+    id: "d1a1a32c-104c-41ee-b542-af68703f6eb7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.322, -0.495, 0.001]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.124, 0.124, 0.124]
+  - name: "hydrating_oil"
+    id: "03009e18-d171-4b19-a769-fcab6b77ef75"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.2699, 0.359, 0.921553]
+    quat: [0.796079, 0.001414, 0.001414, -0.605189]
+    scale: [0.1039, 0.1039, 0.1039]
+  - name: "pillbottle"
+    id: "aec26e96-fac4-4963-9389-98a02837605f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.530145, 0.018491, 0.811887]
+    quat: [0.983716, 0.007995, -0.027039, -0.177506]
+    scale: [0.0653, 0.0653, 0.0653]
+  - name: "toothbrush"
+    id: "00616c9c-da96-42d6-8f84-4f2d7e94f267"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.523, -0.263, 0.854]
+    quat: [-0.143984, -0.467947, 0.861902, 0.131985]
+    scale: [0.0011, 0.0011, 0.0011]
+  - name: "ivory_comb"
+    id: "d8470890-9e7e-49e0-8688-99684b24313b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.403, -0.275, 0.808]
+    quat: [-0.079004, -0.072004, 0.698037, 0.708038]
+    scale: [0.0019, 0.0019, 0.0019]
diff --git a/scenes/replica_cad_desk_scene1/replica_cad_desk_scene1.yaml b/scenes/replica_cad_desk_scene1/replica_cad_desk_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e0cbe82d6e5f1ffb5cc38a5b760a71a75478b24d
--- /dev/null
+++ b/scenes/replica_cad_desk_scene1/replica_cad_desk_scene1.yaml
@@ -0,0 +1,182 @@
+Robot:
+  type: "Panda"
+  pos: [0.390614, 0.041, 0.342223]
+  quat: [0.0, 0.0, 0.0, 1.0]
+Entities:
+  - name: "desk"
+    id: "6f677f74-53ab-4fe1-9f4b-d46b2e03cf01"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.370107]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.7, 0.7, 0.7]
+    joints:
+      - name: "joint_4"
+        prim_path: "/World/desk/joints/joint_4"
+        type: "fixed"
+        parent_link: "/World/desk/base"
+        child_link: "/World/desk/link_4"
+      - name: "joint_0"
+        prim_path: "/World/desk/joints/joint_0"
+        type: "revolute"
+        parent_link: "/World/desk/link_4"
+        child_link: "/World/desk/link_0"
+        limit: [-.inf, .inf]
+      - name: "joint_1"
+        prim_path: "/World/desk/joints/joint_1"
+        type: "revolute"
+        parent_link: "/World/desk/link_4"
+        child_link: "/World/desk/link_1"
+        limit: [-.inf, .inf]
+      - name: "joint_2"
+        prim_path: "/World/desk/joints/joint_2"
+        type: "revolute"
+        parent_link: "/World/desk/link_4"
+        child_link: "/World/desk/link_2"
+        limit: [-.inf, .inf]
+      - name: "joint_3"
+        prim_path: "/World/desk/joints/joint_3"
+        type: "revolute"
+        parent_link: "/World/desk/link_4"
+        child_link: "/World/desk/link_3"
+        limit: [-.inf, .inf]
+      - name: "FixedJoint"
+        prim_path: "/World/desk/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/desk/base"
+        child_link: ""
+  - name: "stapler"
+    id: "e58f2fde-ed7e-461e-978c-850915f4c65d"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.1, -0.365, 0.565257]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.065, 0.065, 0.065]
+  - name: "cup"
+    id: "a2d178b1-4464-44b6-9906-e0713eef7e34"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.186145, 0.278482, 0.561324]
+    quat: [-0.612373, 0.0, 0.0, 0.790569]
+    scale: [0.0906, 0.0906, 0.0906]
+  - name: "white_and_black_markpen"
+    id: "706fd1a1-11dd-432b-896d-902606ff9315"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.238219, 0.275817, 0.684437]
+    quat: [-0.283798, -0.288548, 0.910554, 0.084198]
+    scale: [0.0753, 0.0753, 0.0753]
+  - name: "black_markpen"
+    id: "41c0270d-49cc-41ad-a2ab-6a8ae87c73d8"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.206248, 0.326777, 0.692621]
+    quat: [0.158416, 0.816943, 0.523061, -0.184162]
+    scale: [0.0755, 0.0755, 0.0755]
+  - name: "tissue_box"
+    id: "dd10bdd9-7d1b-4224-9967-c02e2197f576"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.004434, 0.343838, 0.555585]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.1095, 0.1095, 0.1095]
+  - name: "black_book"
+    id: "53356b06-2f35-4b0a-89bd-a0d1420a8bb7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.051, -0.005697, 0.556446]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.1004, 0.1004, 0.1004]
+  - name: "dark_blue_notebook"
+    id: "c42859b0-9e06-4c3c-97c5-8d1cfa31d32e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.0076, 0.45684, 0.63633]
+    quat: [0.67765, -0.20201, 0.2334, 0.66746]
+    scale: [0.1351, 0.1351, 0.1351]
+  - name: "white_notebook"
+    id: "0b715f9d-6335-40af-969a-148265f20aea"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.051652, -0.001579, 0.590975]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.1595, 0.1595, 0.1595]
+  - name: "apple"
+    id: "39c86e88-c4c0-4704-9fb4-cca3755d2ed9"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.154325, -0.40938, 0.561469]
+    quat: [-0.677751, -0.017054, -0.015873, 0.734923]
+    scale: [0.0474, 0.0474, 0.0474]
+  - name: "pear"
+    id: "91704eba-b6e1-4165-8417-00509ce7d98b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.151725, -0.533672, 0.561072]
+    quat: [0.859064, -0.026161, -0.002121, -0.511195]
+    scale: [0.0596, 0.0596, 0.0596]
+  - name: "cola_bottle"
+    id: "53ece91a-9d1b-4e76-a6fc-47ff78e50d60"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.096295, 0.208764, 0.546204]
+    quat: [0.984873, 0.044542, 0.01414, -0.166855]
+    scale: [0.1701, 0.1701, 0.1701]
+  - name: "calculator"
+    id: "2381b44a-f59f-4e34-8bb1-62ea860dac12"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.139, -0.445, 0.565257]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0761, 0.0761, 0.0761]
+  - name: "blue_toycar"
+    id: "ed304498-00db-4a04-adf6-65b04b7c583e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.219, -0.168, 0.7]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0453, 0.0453, 0.0453]
+  - name: "pink_toycar"
+    id: "6795515e-03f3-4b4e-a29c-a5dffd7106da"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.219, 0.303, 0.7]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0593, 0.0593, 0.0593]
+  - name: "plasticbox"
+    id: "41f66a44-8dde-4d78-9148-ae1ab7a33e40"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.121549, -0.402, 0.542465]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.149, 0.149, 0.149]
+  - name: "displaystand"
+    id: "f57427eb-50ea-4d5c-aef9-205032842371"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.215, 0.061, 0.541402]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.4, 0.2, 0.1]
+  - name: "pen_white"
+    id: "065acb2c-0536-4dc4-b1f5-c6b4d5b92bf6"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.039937, -0.002803, 0.623584]
+    quat: [-0.453904, 0.632866, -0.315933, 0.541885]
+    scale: [0.07, 0.07, 0.07]
+    sub_objects:
+      - name: "cap"
+        prim_path: "/World/pen_white/link_0"
+        pos: [0.0, 0.0, 0.0]
+        quat: [0.5, 0.5, -0.5, -0.5]
+      - name: "body"
+        prim_path: "/World/pen_white/link_1"
+        pos: [0.0, 0.0, 0.0]
+        quat: [0.5, 0.5, -0.5, -0.5]
+  - name: "plate"
+    id: "cdc4345a-0cf1-4819-80a3-cd4f45f162bc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.146306, -0.475258, 0.549875]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0336, 0.0336, 0.0336]
diff --git a/scenes/replica_cad_desk_scene2/replica_cad_desk_scene2.yaml b/scenes/replica_cad_desk_scene2/replica_cad_desk_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..ed43cc0b24f737ef4116db4f48d91e531449922f
--- /dev/null
+++ b/scenes/replica_cad_desk_scene2/replica_cad_desk_scene2.yaml
@@ -0,0 +1,157 @@
+Robot:
+  type: "Panda"
+  pos: [0.527988, 0.041, 0.547756]
+  quat: [0.0, 0.0, 0.0, 1.0]
+Entities:
+  - name: "desk"
+    id: "b7f8e2c9-4d6a-4f1b-9e3c-5a8b2d4f7e91"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.436249]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.8, 0.8, 0.8]
+    joints:
+      - name: "joint_4"
+        prim_path: "/World/desk/joints/joint_4"
+        type: "fixed"
+        parent_link: "/World/desk/base"
+        child_link: "/World/desk/link_4"
+      - name: "FixedJoint"
+        prim_path: "/World/desk/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/desk/base"
+        child_link: ""
+  - name: "subtable"
+    id: "3f9c7b21-8e45-4a92-b6d1-9c4f8a2d5e73"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.173, 0.043, 0.822249]
+    quat: [0.0, 0.0, 0.0, 1.0]
+    scale: [0.35, 0.35, 0.35]
+    joints:
+      - name: "joint_3"
+        prim_path: "/World/subtable/joints/joint_3"
+        type: "fixed"
+        parent_link: "/World/subtable/base"
+        child_link: "/World/subtable/link_3"
+      - name: "joint_0"
+        prim_path: "/World/subtable/joints/joint_0"
+        type: "prismatic"
+        parent_link: "/World/subtable/link_3"
+        child_link: "/World/subtable/link_0"
+        limit: [0.0, 0.252]
+      - name: "joint_1"
+        prim_path: "/World/subtable/joints/joint_1"
+        type: "prismatic"
+        parent_link: "/World/subtable/link_3"
+        child_link: "/World/subtable/link_1"
+        limit: [0.0, 0.252]
+      - name: "joint_2"
+        prim_path: "/World/subtable/joints/joint_2"
+        type: "prismatic"
+        parent_link: "/World/subtable/link_3"
+        child_link: "/World/subtable/link_2"
+        limit: [0.0, 0.252]
+      - name: "FixedJoint"
+        prim_path: "/World/subtable/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/subtable/base"
+        child_link: ""
+  - name: "mug"
+    id: "00bbcdaf-fd7e-42bb-b17a-48ab081971f0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.277, 0.228, 0.647634]
+    quat: [0.990355, 0.000707, -0.0, 0.138551]
+    scale: [0.0607, 0.0607, 0.0607]
+  - name: "tissue_box"
+    id: "82747666-28df-40d9-86dd-8e409478510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.189409, 0.208366, 0.841501]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.0973, 0.0973, 0.0973]
+  - name: "plate"
+    id: "cdc4345a-0cf1-4819-80a3-cd4f45f162bc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.173636, -0.069147, 0.6301]
+    quat: [-0.043867, 0.0, 0.0, 0.999037]
+    scale: [0.0336, 0.0336, 0.0336]
+  - name: "fruit_lemon"
+    id: "eb14d4ff-b21d-4637-8423-67bc326ff67f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.157194, -0.024369, 0.657263]
+    quat: [-0.524176, 0.425142, -0.412409, 0.611893]
+    scale: [0.0405, 0.0405, 0.0405]
+  - name: "fruit_pineapple"
+    id: "305c640f-0eb8-4286-b8fd-1abb0fbd9c1c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.244724, 0.449356, 0.691265]
+    quat: [0.735879, -0.677113, 0.0, 0.0]
+    scale: [0.1434, 0.1434, 0.1434]
+  - name: "jam_jar"
+    id: "46fd9937-393f-487f-9101-84b9b2dc0f7d"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.212496, -0.321249, 0.630933]
+    quat: [-0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.0491, 0.0491, 0.0491]
+  - name: "olive_oil"
+    id: "70d29151-b912-4ef5-9d6e-b9f8e85970ee"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.003201, -0.305692, 0.632211]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.8057, 0.8057, 0.8057]
+  - name: "soy_sauce"
+    id: "ca8ee5aa-0fdf-4ea8-bd2f-728e399959a8"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.005925, 0.061986, 0.631988]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [0.8514, 0.8514, 0.8514]
+  - name: "vinegar"
+    id: "f17dee28-f994-41d6-af9e-a2887bb09806"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.089588, -0.406345, 0.63297]
+    quat: [0.707107, 0.0, 0.0, 0.707107]
+    scale: [1.0849, 1.0849, 1.0849]
+  - name: "skillet"
+    id: "bb33262a-7938-48ff-a4b8-6e45ee609ecd"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.058857, 0.391967, 0.634272]
+    quat: [0.976287, 0.0, 0.0, 0.216481]
+    scale: [0.2399, 0.2399, 0.2399]
+  - name: "knife"
+    id: "76b433a0-90ac-4f80-81f4-9dd1303e9d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.150995, 0.098745, 0.637136]
+    quat: [-0.697934, 0.027578, 0.714198, 0.045256]
+    scale: [0.1956, 0.1956, 0.1956]
+  - name: "bread_rectangle_shape"
+    id: "a0c6a447-78c0-48f3-8f44-7dce86ba80f0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.158081, 0.008573, 0.860036]
+    quat: [0.980637, 0.006347, 0.016057, 0.19507]
+    scale: [0.0545, 0.028, 0.028]
+  - name: "bread_arc_shape"
+    id: "faa35475-ba5e-4a14-95a6-3197808d6c49"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.159792, -0.093888, 0.862668]
+    quat: [0.020024, 0.007472, 0.004148, 0.999763]
+    scale: [0.0757, 0.0757, 0.0757]
+  - name: "breadbasket"
+    id: "e100a9ae-74cd-47b7-9551-c683e0b97e12"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.159011, -0.035912, 0.842399]
+    quat: [-0.706206, 5.7e-05, -5.5e-05, 0.708006]
+    scale: [0.1481, 0.1481, 0.1481]
diff --git a/scenes/replica_cad_kitchen_scene1/replica_cad_kitchen_scene1.yaml b/scenes/replica_cad_kitchen_scene1/replica_cad_kitchen_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..231fb5651ea801739a79bbd5a0d9f8ad22994421
--- /dev/null
+++ b/scenes/replica_cad_kitchen_scene1/replica_cad_kitchen_scene1.yaml
@@ -0,0 +1,147 @@
+Robot:
+  type: "Panda"
+  pos: [0.0, 0.0, 0.8]
+  quat: [-0.0, 0.0, 0.0, 1.0]
+Entities:
+  - name: "kitchen_counter"
+    id: "7f9e3a2b-4d6c-4e8f-9a1b-5c7d8e9f0a1b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.37, 0.415, 0.04]
+    quat: [0.707107, 0.707107, 0.0, 0.0]
+    scale: [0.98, 0.98, 0.98]
+    joints:
+      - name: "body_transform"
+        prim_path: "/World/kitchen_counter/joints/body_transform"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: "/World/kitchen_counter/body"
+      - name: "left_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/left_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer1_bottom"
+        limit: [0.0, 0.5]
+      - name: "left_slide_top"
+        prim_path: "/World/kitchen_counter/joints/left_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer1_top"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_bottom"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_middle"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_middle"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_middle"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_top"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_top"
+        limit: [0.0, 0.5]
+      - name: "right_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/right_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer4"
+        limit: [0.0, 0.5]
+      - name: "right_slide_top"
+        prim_path: "/World/kitchen_counter/joints/right_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer3"
+        limit: [0.0, 0.5]
+      - name: "sink_transform"
+        prim_path: "/World/kitchen_counter/joints/sink_transform"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: "/World/kitchen_counter/sink_bottom"
+      - name: "FixedJoint"
+        prim_path: "/World/kitchen_counter/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: ""
+  - name: "coffee_mug"
+    id: "acaa193f-5c10-4840-936a-7b0b9bb8f59a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.32072, -0.32583, 0.523718]
+    quat: [0.495144, -0.001813, 0.00229, 0.868806]
+    scale: [0.08, 0.08, 0.08]
+  - name: "light_blue_cup"
+    id: "a2d178b1-4464-44b6-9906-e0713eef7e34"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.44524, 0.47948, 0.869077]
+    quat: [0.766982, 0.0, 0.0, -0.641668]
+    scale: [0.088, 0.088, 0.088]
+  - name: "dinner_plate"
+    id: "cdc4345a-0cf1-4819-80a3-cd4f45f162bc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.40106, -0.28063, 0.86909]
+    quat: [0.998117, 0.0, 0.000235, -0.061346]
+    scale: [0.025, 0.025, 0.025]
+  - name: "bowl"
+    id: "c00cd1d5-b6ce-4d7f-a1dc-49f200b386e5"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.40051, -0.47229, 0.869088]
+    quat: [0.992732, 0.0, 0.0, -0.120347]
+    scale: [0.047, 0.047, 0.047]
+  - name: "dinner_fork"
+    id: "5d132a45-2620-4f1a-88f5-756b7e5c262b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.30791, -0.16281, 0.908811]
+    quat: [-0.361389, 0.313314, 0.663298, -0.575559]
+    scale: [0.15, 0.15, 0.15]
+  - name: "cooking_kettle"
+    id: "ca75d88c-3efa-4690-b38b-08260de50d04"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.63893, -0.31664, 0.870815]
+    quat: [-0.614531, 0.0, 0.0, 0.788892]
+    scale: [0.1, 0.1, 0.1]
+  - name: "kitchen_pan"
+    id: "bb33262a-7938-48ff-a4b8-6e45ee609ecd"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.31986, 0.0945, 0.873937]
+    quat: [0.998363, 0.0, 0.0, 0.057195]
+    scale: [0.14, 0.14, 0.14]
+  - name: "bread_loaf"
+    id: "d780ce6a-b242-4605-b9b5-85baac9322d0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.33202, 0.04895, 0.880853]
+    quat: [0.999519, -0.002127, 0.000358, -0.030949]
+    scale: [0.04, 0.04, 0.04]
+  - name: "fresh_apple"
+    id: "9ccc5a88-6f11-4b1b-817b-84c0842b82b0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.51991, 0.10039, 0.742707]
+    quat: [-0.700158, 0.713968, -0.001392, -0.005182]
+    scale: [0.7, 0.7, 0.7]
+  - name: "olive_oil_bottle"
+    id: "70d29151-b912-4ef5-9d6e-b9f8e85970ee"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.67301, -0.13614, 0.872064]
+    quat: [-0.12424, -0.023492, -0.068904, 0.989578]
+    scale: [0.5, 0.5, 0.5]
+  - name: "soap"
+    id: "10a93ff5-a3c6-40a4-9f2e-d961d7a10869"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.71002, -0.00633, 0.891763]
+    quat: [0.001719, 0.999989, -0.00445, -6.6e-05]
+    scale: [0.05, 0.05, 0.05]
diff --git a/scenes/replica_cad_kitchen_scene2/replica_cad_kitchen_scene2.yaml b/scenes/replica_cad_kitchen_scene2/replica_cad_kitchen_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4ca5d4aa9ac58fb44075a11fee03cbff0b73d255
--- /dev/null
+++ b/scenes/replica_cad_kitchen_scene2/replica_cad_kitchen_scene2.yaml
@@ -0,0 +1,147 @@
+Robot:
+  type: "Panda"
+  pos: [0.0, 0.0, 0.8]
+  quat: [-0.0, 0.0, 0.0, 1.0]
+Entities:
+  - name: "kitchen_counter"
+    id: "7f9e3a2b-4d6c-4e8f-9a1b-5c7d8e9f0a1b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [-0.37, -0.878507, 0.04]
+    quat: [0.707107, 0.707107, 0.0, 0.0]
+    scale: [0.98, 0.98, 0.98]
+    joints:
+      - name: "body_transform"
+        prim_path: "/World/kitchen_counter/joints/body_transform"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: "/World/kitchen_counter/body"
+      - name: "left_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/left_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer1_bottom"
+        limit: [0.0, 0.5]
+      - name: "left_slide_top"
+        prim_path: "/World/kitchen_counter/joints/left_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer1_top"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_bottom"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_middle"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_middle"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_middle"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_top"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_top"
+        limit: [0.0, 0.5]
+      - name: "right_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/right_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer4"
+        limit: [0.0, 0.5]
+      - name: "right_slide_top"
+        prim_path: "/World/kitchen_counter/joints/right_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer3"
+        limit: [0.0, 0.5]
+      - name: "sink_transform"
+        prim_path: "/World/kitchen_counter/joints/sink_transform"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: "/World/kitchen_counter/sink_bottom"
+      - name: "FixedJoint"
+        prim_path: "/World/kitchen_counter/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: ""
+  - name: "chopping_board"
+    id: "10034027-d568-48cf-a8b3-ffdded10b4c1"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.46755, -0.195736, 0.903022]
+    quat: [0.003173, 0.779092, 0.626895, -0.002705]
+    scale: [0.2, 0.2, 0.2]
+  - name: "hammer"
+    id: "cce961d0-3edb-4e44-aaf1-b17dc0eefac2"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.66778, 0.393123, 1.03033]
+    quat: [0.676727, -0.204019, -0.673506, -0.216346]
+    scale: [0.079, 0.079, 0.079]
+  - name: "screwdriver"
+    id: "0c28b085-43bd-4481-a46a-2173f3daa102"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.60232, 0.448143, 1.03346]
+    quat: [-0.010914, -0.620399, 0.372847, 0.689906]
+    scale: [0.095, 0.095, 0.095]
+  - name: "power_drill"
+    id: "dbac2613-2280-47da-a810-55d149eb48da"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.63664, 0.215443, 1.03378]
+    quat: [0.668704, -0.203528, -0.663604, -0.266534]
+    scale: [0.08, 0.08, 0.08]
+  - name: "horizontal_white_plasticbox"
+    id: "41f66a44-8dde-4d78-9148-ae1ab7a33e40"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.36344, 0.430073, 0.870828]
+    quat: [0.993109, -9.2e-05, -4.0e-06, -0.117195]
+    scale: [0.15, 0.15, 0.15]
+  - name: "red_plasticbox"
+    id: "1d45796a-7a0b-45e7-8929-8161c4061417"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.42388, 0.094203, 0.87021]
+    quat: [-0.240923, -1.8e-05, 7.5e-05, 0.970544]
+    scale: [0.1, 0.1, 0.1]
+  - name: "electronic_scale"
+    id: "719932a8-092a-4608-b944-f2c5d545d960"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.65337, 0.422953, 0.870475]
+    quat: [0.728336, -1.5e-05, 1.1e-05, -0.68522]
+    scale: [0.08, 0.08, 0.08]
+  - name: "parts_stand"
+    id: "f57427eb-50ea-4d5c-aef9-205032842371"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.70189, 0.362483, 0.872531]
+    quat: [0.70154, 3.4e-05, -2.5e-05, 0.71263]
+    scale: [0.2, 0.2, 0.2]
+  - name: "utility_roller"
+    id: "80857190-d4af-4112-9465-4d5c141f118e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.50353, -0.398087, 0.870599]
+    quat: [0.726081, 0.000948, -0.007094, -0.687571]
+    scale: [0.1, 0.1, 0.12]
+  - name: "assembly_glue"
+    id: "c9dd303c-91fc-4bc6-8fd4-737d3ee8a018"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.53704, 0.289113, 0.902136]
+    quat: [0.058775, 0.70746, -0.057054, -0.70199]
+    scale: [0.1, 0.1, 0.1]
+  - name: "vertical_white_plasticbox"
+    id: "b1e2332f-29a0-41a4-a1a5-5acd63a48ed9"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.74998, 0.014683, 0.965852]
+    quat: [0.704675, 0.058528, 0.704688, -0.058503]
+    scale: [0.1, 0.1, 0.1]
diff --git a/scenes/replica_cad_kitchen_scene3/replica_cad_kitchen_scene3.yaml b/scenes/replica_cad_kitchen_scene3/replica_cad_kitchen_scene3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8a7b00b4d8e8ebc7cf3e1c7d2e3ce711bcc4ebff
--- /dev/null
+++ b/scenes/replica_cad_kitchen_scene3/replica_cad_kitchen_scene3.yaml
@@ -0,0 +1,168 @@
+Robot:
+  type: "Panda"
+  pos: [0.45511, -0.05259, 0.8]
+  quat: [0.0, 0.0, 0.0, 1.0]
+Entities:
+  - name: "kitchen_counter"
+    id: "7f9e3a2b-4d6c-4e8f-9a1b-5c7d8e9f0a1b"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.08511, 0.36241, 0.04]
+    quat: [0.707107, 0.707107, 0.0, 0.0]
+    scale: [0.98, 0.98, 0.98]
+    joints:
+      - name: "body_transform"
+        prim_path: "/World/kitchen_counter/joints/body_transform"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: "/World/kitchen_counter/body"
+      - name: "left_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/left_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer1_bottom"
+        limit: [0.0, 0.5]
+      - name: "left_slide_top"
+        prim_path: "/World/kitchen_counter/joints/left_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer1_top"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_bottom"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_middle"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_middle"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_middle"
+        limit: [0.0, 0.5]
+      - name: "middle_slide_top"
+        prim_path: "/World/kitchen_counter/joints/middle_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer2_top"
+        limit: [0.0, 0.5]
+      - name: "right_slide_bottom"
+        prim_path: "/World/kitchen_counter/joints/right_slide_bottom"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer4"
+        limit: [0.0, 0.5]
+      - name: "right_slide_top"
+        prim_path: "/World/kitchen_counter/joints/right_slide_top"
+        type: "prismatic"
+        parent_link: "/World/kitchen_counter/body"
+        child_link: "/World/kitchen_counter/drawer3"
+        limit: [0.0, 0.5]
+      - name: "sink_transform"
+        prim_path: "/World/kitchen_counter/joints/sink_transform"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: "/World/kitchen_counter/sink_bottom"
+      - name: "FixedJoint"
+        prim_path: "/World/kitchen_counter/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/kitchen_counter/root"
+        child_link: ""
+  - name: "cutting_board"
+    id: "10034027-d568-48cf-a8b3-ffdded10b4c1"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.0151, -0.36509, 0.87299]
+    quat: [0.999818, 0.004738, -0.001745, -0.018399]
+    scale: [0.18, 0.18, 0.18]
+  - name: "kitchen_knife"
+    id: "76b433a0-90ac-4f80-81f4-9dd1303e9d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.02168, -0.36203, 0.90957]
+    quat: [-0.692214, -0.126174, 0.705718, -0.082956]
+    scale: [0.2, 0.2, 0.2]
+  - name: "kitchen_fork"
+    id: "5d132a45-2620-4f1a-88f5-756b7e5c262b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.25494, 0.10128, 0.875702]
+    quat: [0.541598, -0.518628, -0.457612, 0.477795]
+    scale: [0.15, 0.15, 0.15]
+  - name: "vegetables"
+    id: "2e7ba4d4-d3d9-42df-a6d3-56eefa27ae21"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.0, 0.0, 0.741727]
+    quat: [-0.352746, 0.386525, 0.605107, -0.600012]
+    scale: [0.08, 0.08, 0.08]
+  - name: "bread_loaf"
+    id: "a0c6a447-78c0-48f3-8f44-7dce86ba80f0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.1714, 0.02857, 0.907818]
+    quat: [0.686126, 0.695163, 0.152809, 0.150425]
+    scale: [0.03, 0.03, 0.03]
+  - name: "large_mixing_bowl"
+    id: "4db38094-3303-4b8f-80d0-d51099710d66"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.08729, 0.14427, 0.716548]
+    quat: [0.994245, -0.000139, 2.6e-05, -0.107134]
+    scale: [0.05, 0.05, 0.05]
+  - name: "plate"
+    id: "cdc4345a-0cf1-4819-80a3-cd4f45f162bc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.18362, 0.0012, 0.871501]
+    quat: [-0.099734, -0.000235, -2.6e-05, 0.995014]
+    scale: [0.025, 0.025, 0.025]
+  - name: "olive_oil"
+    id: "cbace341-2b85-4a3a-95e8-f141af51e0ca"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.31373, -0.28493, 0.883552]
+    quat: [0.692556, 0.012794, -5.3e-05, 0.721251]
+    scale: [0.7, 0.7, 0.7]
+  - name: "soy_sauce"
+    id: "c1dc09fc-e5b8-4b2c-a1ee-adb7fe68e6be"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.23797, -0.31933, 0.884122]
+    quat: [-0.173079, 0.000651, 0.001095, 0.984907]
+    scale: [0.7, 0.7, 0.7]
+  - name: "coffee_mug"
+    id: "84450536-e5a3-4a64-87f1-4c1b5b48b606"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.1192, 0.38636, 0.869075]
+    quat: [0.953791, -0.000228, -5.4e-05, 0.300472]
+    scale: [0.06, 0.06, 0.06]
+  - name: "red_plasticbox"
+    id: "1d45796a-7a0b-45e7-8929-8161c4061417"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.27221, -0.29059, 0.87021]
+    quat: [0.898169, 8.2e-05, 9.0e-06, 0.439651]
+    scale: [0.15, 0.15, 0.15]
+  - name: "tissue_box"
+    id: "82747666-28df-40d9-86dd-8e409478510a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.1733, 0.39674, 0.870123]
+    quat: [0.999993, 3.7e-05, -6.0e-06, -0.003686]
+    scale: [0.06, 0.06, 0.06]
+  - name: "milk_carton"
+    id: "9181c2b6-39a8-4d26-b23c-2e3bb5a4dd04"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.1811, 0.23512, 0.87262]
+    quat: [0.998663, -0.002512, 0.001348, 0.051605]
+    scale: [0.8, 0.8, 0.8]
+  - name: "jam_jar"
+    id: "e17590aa-e0fe-4332-838a-cd9e527bf7b0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.24118, -0.23433, 0.884046]
+    quat: [-0.464472, -0.01054, -0.005016, 0.885511]
+    scale: [0.05, 0.05, 0.05]
diff --git a/scenes/replica_cad_living_room_scene2/replica_cad_living_room_scene2.yaml b/scenes/replica_cad_living_room_scene2/replica_cad_living_room_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..c319f9a76ceb17fccad7ae351706a8b93ec51cf3
--- /dev/null
+++ b/scenes/replica_cad_living_room_scene2/replica_cad_living_room_scene2.yaml
@@ -0,0 +1,169 @@
+Robot:
+  type: "Panda"
+  pos: [0.490448, 0.04585, 0.223501]
+  quat: [0.0, 0.0, 0.0, 1.0]
+Entities:
+  - name: "white_table"
+    id: "e69f40a1-9cda-49e0-a739-208a4d7f6433"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.274547]
+    quat: [0.999981, 2.0e-05, 7.0e-06, -0.006125]
+    scale: [0.6, 0.6, 0.6]
+    joints:
+      - name: "joint_8"
+        prim_path: "/World/white_table/joints/joint_8"
+        type: "fixed"
+        parent_link: "/World/white_table/base"
+        child_link: "/World/white_table/link_8"
+      - name: "joint_0"
+        prim_path: "/World/white_table/joints/joint_0"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_0"
+        limit: [-.inf, .inf]
+      - name: "joint_1"
+        prim_path: "/World/white_table/joints/joint_1"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_1"
+        limit: [-.inf, .inf]
+      - name: "joint_2"
+        prim_path: "/World/white_table/joints/joint_2"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_2"
+        limit: [-.inf, .inf]
+      - name: "joint_3"
+        prim_path: "/World/white_table/joints/joint_3"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_3"
+        limit: [-.inf, .inf]
+      - name: "joint_4"
+        prim_path: "/World/white_table/joints/joint_4"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_4"
+        limit: [-.inf, .inf]
+      - name: "joint_5"
+        prim_path: "/World/white_table/joints/joint_5"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_5"
+        limit: [-.inf, .inf]
+      - name: "joint_6"
+        prim_path: "/World/white_table/joints/joint_6"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_6"
+        limit: [-.inf, .inf]
+      - name: "joint_7"
+        prim_path: "/World/white_table/joints/joint_7"
+        type: "revolute"
+        parent_link: "/World/white_table/link_8"
+        child_link: "/World/white_table/link_7"
+        limit: [-.inf, .inf]
+      - name: "FixedJoint"
+        prim_path: "/World/white_table/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/white_table/base"
+        child_link: ""
+  - name: "plate"
+    id: "cdc4345a-0cf1-4819-80a3-cd4f45f162bc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.070633, 0.01683, 0.401778]
+    quat: [-0.677471, -0.000276, -0.00018, 0.73555]
+    scale: [0.0336, 0.0336, 0.0336]
+  - name: "apple"
+    id: "9ccc5a88-6f11-4b1b-817b-84c0842b82b0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.00081, 0.020122, 0.463004]
+    quat: [0.512329, -0.480369, 0.582455, 0.409281]
+    scale: [1.1476, 1.1476, 1.1476]
+  - name: "pear"
+    id: "91704eba-b6e1-4165-8417-00509ce7d98b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.130878, 0.032518, 0.413299]
+    quat: [0.44342, -0.010574, -0.028556, 0.895796]
+    scale: [0.0596, 0.0596, 0.0596]
+  - name: "orange"
+    id: "14f6140c-bda3-4ad0-9968-69a4df7446eb"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.043398, 0.021237, 0.442124]
+    quat: [0.644107, 0.556911, -0.289038, 0.43753]
+    scale: [0.0434, 0.0434, 0.0434]
+  - name: "blue_mug"
+    id: "e2862e42-2e1d-4ef4-b924-92ccce94a365"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.00772, 0.2008, 0.409505]
+    quat: [0.990556, 1.7e-05, 0.000349, -0.137109]
+    scale: [0.057, 0.057, 0.057]
+  - name: "coaster"
+    id: "d8bda831-e6af-4b92-8e86-4530352f2399"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.01319, 0.19021, 0.409507]
+    quat: [-0.000196, 0.99406, 0.108827, 0.000828]
+    scale: [0.0537, 0.0537, 0.0537]
+  - name: "remote_control"
+    id: "fdac0cc5-3326-4e1e-b21c-7dc641c0b310"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.07672, -0.321063, 0.403353]
+    quat: [0.989619, 0.000321, -3.8e-05, -0.143712]
+    scale: [0.1011, 0.1011, 0.1011]
+  - name: "shoe_black_and_white"
+    id: "0fa5b250-500c-4af1-93ed-09fc4a947d29"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.36061, 0.38454, 0.000686]
+    quat: [0.811332, -0.000193, 0.000851, -0.584585]
+    scale: [0.1563, 0.1563, 0.1563]
+  - name: "shoe_white"
+    id: "01237be2-356a-4a66-8084-337fba056eb3"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.33007, 0.50944, 0.000636]
+    quat: [-0.697907, 0.001496, -0.002845, 0.716182]
+    scale: [0.1493, 0.1493, 0.1493]
+  - name: "bread"
+    id: "d780ce6a-b242-4605-b9b5-85baac9322d0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.113854, -0.067183, 0.403086]
+    quat: [0.782994, -0.001636, 0.001382, -0.622026]
+    scale: [0.0634, 0.0634, 0.0634]
+  - name: "milk_tea"
+    id: "886aea23-7ad0-4e70-9d79-3ccb47a14876"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.09752, 0.24875, 0.402708]
+    quat: [0.758926, 0.000718, 0.003559, -0.651167]
+    scale: [0.0797, 0.0797, 0.0797]
+  - name: "rubikscube"
+    id: "10933a30-4679-487e-90d4-5747eb3e8bc5"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.06902, -0.19346, 0.402233]
+    quat: [0.793342, 0.000234, -8.4e-05, -0.608776]
+    scale: [0.0333, 0.0333, 0.0333]
+  - name: "bottle"
+    id: "b899162c-41d7-4c15-9fcf-45ce73862f38"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.045839, -0.206174, 0.401641]
+    quat: [0.749358, -0.00706, -0.001474, -0.662126]
+    scale: [0.1152, 0.1152, 0.1152]
+  - name: "basket"
+    id: "1dbc08f5-d5a0-4463-bc2d-19f99f467b56"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.32085, -0.19235, 0.001245]
+    quat: [0.791095, -2.8e-05, -0.000179, -0.611693]
+    scale: [0.165, 0.165, 0.165]
diff --git a/scenes/replica_cad_living_room_scene5/replica_cad_living_room_scene5.yaml b/scenes/replica_cad_living_room_scene5/replica_cad_living_room_scene5.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..8ea153f10f9148695c01e4f60c829e87bc891838
--- /dev/null
+++ b/scenes/replica_cad_living_room_scene5/replica_cad_living_room_scene5.yaml
@@ -0,0 +1,99 @@
+Robot:
+  type: "Panda"
+  pos: [0.501274, -0.016461, 0.487803]
+  quat: [-0.001591, 0.0, -0.0, 0.999999]
+Entities:
+  - name: "wooden_table"
+    id: "298f5036-5e67-4d7a-a2d9-cd1a1edcc9d9"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.637732]
+    quat: [-0.294015, 0, -0.0, 0.955801]
+    scale: [0.75, 0.75, 0.75]
+    joints:
+      - name: "joint_1"
+        prim_path: "/World/wooden_table/joints/joint_1"
+        type: "fixed"
+        parent_link: "/World/wooden_table/base"
+        child_link: "/World/wooden_table/link_1"
+      - name: "joint_0"
+        prim_path: "/World/wooden_table/joints/joint_0"
+        type: "prismatic"
+        parent_link: "/World/wooden_table/link_1"
+        child_link: "/World/wooden_table/link_0"
+        limit: [0.0, 0.596]
+      - name: "FixedJoint"
+        prim_path: "/World/wooden_table/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/wooden_table/base"
+        child_link: ""
+  - name: "plate"
+    id: "cdc4345a-0cf1-4819-80a3-cd4f45f162bc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.076304, 0.045668, 0.742963]
+    quat: [0.990041, -0.0, 2.7e-05, 0.140778]
+    scale: [0.0336, 0.0336, 0.0336]
+  - name: "apple"
+    id: "51a535d1-7f85-44d4-970e-fa759f55b321"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.075544, -0.002786, 0.791865]
+    quat: [0.583115, 0.528787, 0.402392, 0.467377]
+    scale: [1.1701, 1.1701, 1.1701]
+  - name: "playingcards"
+    id: "f4c78267-9fba-4674-80dc-62b78e2c4d7f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.138772, -0.205352, 0.791522]
+    quat: [-0.076063, -0.075773, 0.703007, 0.703032]
+    scale: [0.0502, 0.0502, 0.0502]
+  - name: "trophy"
+    id: "b29ff15c-c05c-4f37-a7ec-6219f1105978"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.034471, -0.311484, 0.744727]
+    quat: [-0.081407, -1.1e-05, -1.2e-05, 0.996681]
+    scale: [0.1018, 0.1018, 0.1018]
+  - name: "plastic_box"
+    id: "41f66a44-8dde-4d78-9148-ae1ab7a33e40"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.021592, 0.320356, 0.792524]
+    quat: [0.000187, 0.000303, 0.000383, 1.0]
+    scale: [0.149, 0.149, 0.149]
+  - name: "tomato"
+    id: "e81e0b55-7e42-4e5c-9e76-d83ddfaccab7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.018923, 0.305782, 0.80987]
+    quat: [0.828587, -0.053987, 0.000761, -0.557251]
+    scale: [0.0344, 0.0344, 0.0344]
+  - name: "jam_jar"
+    id: "e17590aa-e0fe-4332-838a-cd9e527bf7b0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.14649, -0.056109, 0.744015]
+    quat: [0.872807, 0.000519, -0.000297, -0.488065]
+    scale: [0.063, 0.063, 0.063]
+  - name: "bread"
+    id: "d780ce6a-b242-4605-b9b5-85baac9322d0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.11922, 0.038984, 0.754624]
+    quat: [0.968971, 0.002835, 0.015302, 0.246683]
+    scale: [0.0634, 0.0634, 0.0634]
+  - name: "cup_with_liquid"
+    id: "cc2089af-7057-480a-8576-1580355cfb68"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.030718, -0.144033, 0.742964]
+    quat: [0.920257, -0.000966, 0.000633, 0.391313]
+    scale: [0.0459, 0.0459, 0.0459]
+  - name: "toy_car"
+    id: "ed304498-00db-4a04-adf6-65b04b7c583e"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.074765, 0.131363, 0.743588]
+    quat: [-0.352223, -0.000156, 0.000134, 0.935916]
+    scale: [0.0453, 0.0453, 0.0453]
diff --git a/scenes/roboarena_scene1/roboarena_scene1.yaml b/scenes/roboarena_scene1/roboarena_scene1.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a3ea9ab183462c93cd2399be651280d9dab4ba99
--- /dev/null
+++ b/scenes/roboarena_scene1/roboarena_scene1.yaml
@@ -0,0 +1,36 @@
+Robot:
+  type: "Panda"
+  pos: [-0.873593, -0.179893, 0.524304]
+  quat: [0.995126, 0.0, 0.0, 0.098611]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.995211, 0.0, 0.0, 0.097747]
+  - name: "orange_cup"
+    id: "0dbc2ea8-97b4-4c1d-ace8-57c62338e764"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.358253, 0.031227, 0.725877]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "blue_cup"
+    id: "ebe8d3f9-5f7a-4563-9b75-4ffc93b421c8"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.361763, -0.266743, 0.70943]
+    quat: [0.99999, -0.004074, 0.000453, -0.002043]
+  - name: "yellow_cup"
+    id: "ba86151d-898a-4121-bee3-d3fd23b247cb"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.427473, -0.107003, 0.71138]
+    quat: [0.650365, -0.001991, 0.001795, 0.759617]
+  - name: "mat_0"
+    id: "dadea4d5-9b91-4b0a-b536-56909071dd15"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.342233, -0.087613, 0.675]
+    quat: [0.993815, 0.0, 0.0, 0.11105]
+    scale: [0.01, 0.01, 0.02]
diff --git a/scenes/roboarena_scene10/roboarena_scene10.yaml b/scenes/roboarena_scene10/roboarena_scene10.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..67413b34c627882f4203685daa0647d77ab6a64f
--- /dev/null
+++ b/scenes/roboarena_scene10/roboarena_scene10.yaml
@@ -0,0 +1,68 @@
+Robot:
+  type: "Panda"
+  pos: [-0.270788, -0.430989, 0.68283]
+  quat: [0.890868, 0.0, -0.0, 0.454262]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.355455]
+    quat: [0.229479, 0.0, 0.0, 0.973314]
+  - name: "mug_0"
+    id: "933dd257-8ca3-4c44-b4f6-1b12d7bb5d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.075583, -0.209775, 0.716923]
+    quat: [0.430857, 0.00274, -0.00344, 0.902409]
+  - name: "lego_toy_0"
+    id: "f9c60658-e9c7-4594-810a-45db1574f4a6"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.33422, -0.107731, 0.690845]
+    quat: [0.644113, -0.004472, -0.002055, 0.764915]
+  - name: "towel_0"
+    id: "50feff79-6145-4e2c-8646-54e77f1ac7f5"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.239412, 0.254875, 0.725766]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [0.08, 0.08, 0.08]
+  - name: "plate_0"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.151987, -0.34416, 0.687746]
+    quat: [0.552328, -0.000125, -0.000964, 0.833627]
+  - name: "plate_1"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.025819, 0.045641, 0.68765]
+    quat: [-0.30277, 0.000672, -0.000702, 0.953063]
+  - name: "stapler_0"
+    id: "88810938-401b-42cc-bbbb-c392dad027f4"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.240409, -0.149385, 0.723029]
+    quat: [0.871169, 0.093386, -0.139467, 0.461403]
+    scale: [0.075, 0.075, 0.075]
+  - name: "battery_0"
+    id: "ac5a575e-d866-4244-9db0-6613e15e3237"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.338121, -0.115748, 0.780963]
+    quat: [0.997754, 0.0, 0.0, -0.066982]
+    scale: [0.001, 0.001, 0.001]
+  - name: "box_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.509741, 0.091723, 0.750277]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "mustard_bottle_0"
+    id: "ab371214-dbad-409a-bce3-139779dbf30f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.45005, -0.098762, 0.722808]
+    quat: [0.364717, 0.453721, -0.54608, 0.602424]
diff --git a/scenes/roboarena_scene11/roboarena_scene11.yaml b/scenes/roboarena_scene11/roboarena_scene11.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f6d54842daf326f62bb01fa0a212092a772667dd
--- /dev/null
+++ b/scenes/roboarena_scene11/roboarena_scene11.yaml
@@ -0,0 +1,82 @@
+Robot:
+  type: "Panda"
+  pos: [0.476204, -0.146189, 0.661115]
+  quat: [0.238816, 0.0, 0.0, 0.971065]
+Entities:
+  - name: "desk_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [-0.570452, 0.0, 0.0, 0.821331]
+  - name: "computer_mouse_0"
+    id: "f9e95bb6-1a24-4578-8028-d666da13f4a4"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.160499, -0.246338, 0.693415]
+    quat: [-0.43939, -0.0, 0.0, 0.898296]
+    scale: [0.003, 0.003, 0.003]
+  - name: "screwdriver_0"
+    id: "389806d4-81d9-4c56-903f-091765d78308"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.009291, 0.131183, 0.686794]
+    quat: [-0.673474, 0.13642, 0.138525, 0.713185]
+    scale: [0.7, 0.7, 0.7]
+  - name: "rubik_cube_0"
+    id: "faaf452f-4513-46f0-80fe-482179c69899"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.145465, -0.219014, 0.703177]
+    quat: [0.055463, 0.002345, 0.003605, 0.998451]
+  - name: "plier_0"
+    id: "efcdaa93-db93-4fba-8d36-900b6629d60f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.063252, 0.030932, 0.660483]
+    quat: [0.002075, -0.363664, 0.931526, 0.001843]
+    scale: [0.01, 0.01, 0.01]
+  - name: "remote_control_0"
+    id: "ce545670-99d8-4a65-8fc9-ef83987a4c80"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.087845, -0.08751, 0.684645]
+    quat: [-0.645359, -0.004088, -0.009135, 0.763814]
+    scale: [1.5, 1.5, 1.5]
+  - name: "paper_0"
+    id: "248c06a0-d52f-4fdd-aaa9-81fe2f390039"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.226133, 0.309173, 0.6758]
+    quat: [0.293801, -0.0, -0.0, 0.955867]
+  - name: "box_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.107203, 0.531482, 0.749389]
+    quat: [0.921443, -4.6e-05, 7.5e-05, -0.388515]
+  - name: "knife_0"
+    id: "4780e997-1254-4d90-86de-ae7c57a92c88"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.053877, 0.030355, 0.688169]
+    quat: [0.039649, -0.391071, 0.919505, -0.001571]
+  - name: "computer_mouse_1"
+    id: "f9e95bb6-1a24-4578-8028-d666da13f4a4"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.281662, -0.015194, 0.693415]
+    quat: [-0.299071, 0.0, 0.0, 0.954231]
+    scale: [0.003, 0.003, 0.003]
+  - name: "cup_0"
+    id: "62804bd2-3c5f-494a-af5f-69de8a986a57"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.009319, -0.321801, 0.704794]
+    quat: [0.0, 0.458569, 0.888659, -0.0]
+  - name: "cup_1"
+    id: "ba86151d-898a-4121-bee3-d3fd23b247cb"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.037406, -0.210439, 0.706182]
+    quat: [0.569262, -0.197663, 0.633103, 0.48585]
diff --git a/scenes/roboarena_scene12/roboarena_scene12.yaml b/scenes/roboarena_scene12/roboarena_scene12.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..295d2f25215346244318e988a8834b29b2de4145
--- /dev/null
+++ b/scenes/roboarena_scene12/roboarena_scene12.yaml
@@ -0,0 +1,51 @@
+Robot:
+  type: "Panda"
+  pos: [0.261127, 0.809064, 0.662962]
+  quat: [-0.648171, 0.0, 0.0, 0.761495]
+Entities:
+  - name: "desk_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [-0.570452, 0.0, 0.0, 0.821331]
+  - name: "plate_0"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.119721, 0.550979, 0.686902]
+    quat: [0.517476, -9.7e-05, -0.000914, 0.855697]
+  - name: "container_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.335012, 0.278036, 0.74941]
+    quat: [0.879012, 2.3e-05, 3.8e-05, 0.4768]
+    scale: [0.7, 0.7, 0.7]
+  - name: "container_1"
+    id: "49dadafd-d7e9-4606-8c4d-6bdb379f7079"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.083325, 0.388603, 0.754709]
+    quat: [-0.461428, 0.458145, 0.538518, -0.535898]
+    scale: [0.1, 0.1, 0.1]
+  - name: "knife_0"
+    id: "4780e997-1254-4d90-86de-ae7c57a92c88"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.27292, 0.503869, 0.693955]
+    quat: [-0.006235, 0.705674, -0.702696, -0.090579]
+  - name: "block_0"
+    id: "edef838f-2c84-4606-8d61-3c910a008efd"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.124595, 0.569555, 0.720873]
+    quat: [0.693214, -0.153476, -0.68702, -0.154607]
+    scale: [1.5, 1.5, 1.5]
+  - name: "block_1"
+    id: "4eb41927-03ff-46ec-ad91-2746f25e9dac"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.189267, 0.577884, 0.720368]
+    quat: [0.481862, -0.49655, 0.513526, -0.507482]
+    scale: [1.5, 1.5, 1.5]
diff --git a/scenes/roboarena_scene13/roboarena_scene13.yaml b/scenes/roboarena_scene13/roboarena_scene13.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..dda653de534dc89bb4282a92e6fdbb0bb9e9a070
--- /dev/null
+++ b/scenes/roboarena_scene13/roboarena_scene13.yaml
@@ -0,0 +1,108 @@
+Robot:
+  type: "Panda"
+  pos: [0.416257, -0.776148, 0.61756]
+  quat: [0.493641, -0.0, 0.0, 0.869666]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.492837, 0.0, 0.0, 0.870122]
+  - name: "notebook_0"
+    id: "d61ddfd8-7641-402a-8d4c-cba8ab1f5bf0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.201873, -0.475811, 0.675]
+    quat: [-0.026978, -0.0, 0.0, 0.999636]
+  - name: "drawer_0"
+    id: "fedcba98-7654-4321-fedc-ba9876543210"
+    object_type: "Articulation"
+    body_type: "static"
+    pos: [0.201816, -0.144954, 0.681698]
+    quat: [1.0, 0.0, 0.0, 0.0]
+    scale: [1.2, 1.2, 1.2]
+    joints:
+      - name: "object"
+        prim_path: "/World/drawer_0/joints/object"
+        type: "fixed"
+        parent_link: "/World/drawer_0/_body_0/_body_0"
+        child_link: "/World/drawer_0/_body_0/object"
+      - name: "base"
+        prim_path: "/World/drawer_0/joints/base"
+        type: "fixed"
+        parent_link: "/World/drawer_0/_body_0/object"
+        child_link: "/World/drawer_0/_body_0/base"
+      - name: "base__"
+        prim_path: "/World/drawer_0/joints/base__"
+        type: "fixed"
+        parent_link: "/World/drawer_0/_body_0/base"
+        child_link: "/World/drawer_0/_body_0/base__"
+      - name: "base_joint"
+        prim_path: "/World/drawer_0/joints/base_joint"
+        type: "revolute"
+        parent_link: "/World/drawer_0/_body_0/base"
+        child_link: "/World/drawer_0/_body_0/cabinet_base"
+        limit: [0.0, 0.0]
+      - name: "middle_level"
+        prim_path: "/World/drawer_0/joints/middle_level"
+        type: "prismatic"
+        parent_link: "/World/drawer_0/_body_0/base"
+        child_link: "/World/drawer_0/_body_0/cabinet_middle"
+        limit: [-0.16, 0.01]
+      - name: "top_level"
+        prim_path: "/World/drawer_0/joints/top_level"
+        type: "prismatic"
+        parent_link: "/World/drawer_0/_body_0/base"
+        child_link: "/World/drawer_0/_body_0/cabinet_top"
+        limit: [-0.16, 0.01]
+      - name: "bottom_level"
+        prim_path: "/World/drawer_0/joints/bottom_level"
+        type: "prismatic"
+        parent_link: "/World/drawer_0/_body_0/base"
+        child_link: "/World/drawer_0/_body_0/cabinet_bottom"
+        limit: [-0.16, 0.01]
+      - name: "FixedJoint"
+        prim_path: "/World/drawer_0/joints/FixedJoint"
+        type: "fixed"
+        parent_link: "/World/drawer_0/_body_0/_body_0"
+        child_link: ""
+  - name: "computer_mouse_0"
+    id: "f9e95bb6-1a24-4578-8028-d666da13f4a4"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.018959, -0.544195, 0.693415]
+    quat: [0.991755, 0.0, 0.0, -0.128146]
+    scale: [0.003, 0.003, 0.003]
+  - name: "plate_0"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.473299, -0.418143, 0.68701]
+    quat: [0.999047, 0.000621, -0.00242, -0.04358]
+  - name: "screwdriver_0"
+    id: "8174a00a-51e4-4b32-888d-eee49f09910a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.201629, -0.372426, 0.70853]
+    quat: [-0.490271, -0.07516, 0.866311, -0.059075]
+  - name: "remote_control_0"
+    id: "ce545670-99d8-4a65-8fc9-ef83987a4c80"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.115546, -0.284231, 0.684723]
+    quat: [-0.663319, 0.0, 0.0, 0.748337]
+    scale: [1.5, 1.5, 1.5]
+  - name: "plier_0"
+    id: "efcdaa93-db93-4fba-8d36-900b6629d60f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.013598, -0.357354, 0.700284]
+    quat: [-0.554704, -0.004119, -0.001319, 0.832036]
+    scale: [0.01, 0.01, 0.01]
+  - name: "box_0"
+    id: "3b91b80f-d619-4541-9a6f-57f2467fd763"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.184341, -0.108884, 1.05316]
+    quat: [0.701054, 0.701053, 0.092325, 0.092325]
diff --git a/scenes/roboarena_scene14/roboarena_scene14.yaml b/scenes/roboarena_scene14/roboarena_scene14.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bcf98ce6c4ce1cc01d34626bc95c0fccaf052243
--- /dev/null
+++ b/scenes/roboarena_scene14/roboarena_scene14.yaml
@@ -0,0 +1,67 @@
+Robot:
+  type: "Panda"
+  pos: [0.402157, -0.771533, 0.567548]
+  quat: [0.390178, -0.0, 0.0, 0.92074]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.459551, 0.0, 0.0, 0.888151]
+  - name: "plate_0"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.208351, -0.24268, 0.68701]
+    quat: [-0.535667, 0.00163, 0.001894, 0.844425]
+  - name: "apple_0"
+    id: "0ba871e4-5d11-4bc4-aad7-22ee7c486c2a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.626196, -0.277324, 0.710798]
+    quat: [0.080172, -0.251555, -0.662947, 0.700567]
+  - name: "bread_0"
+    id: "4cfeab0e-90cc-4a0f-acc9-927b4be38e0a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.074457, -0.43002, 0.695683]
+    quat: [-0.381489, -0.381583, 0.595392, 0.595289]
+    scale: [0.0005, 0.0005, 0.0005]
+  - name: "ball_0"
+    id: "76e8c37f-b8e2-49d4-bdc3-1e970106caaa"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.265253, -0.507683, 0.691871]
+    quat: [0.322299, -0.197533, 0.891847, 0.248422]
+  - name: "mug_1"
+    id: "00da075b-1fec-4ca0-9ef5-9a8b6d004105"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.356001, -0.388996, 0.714301]
+    quat: [-0.22585, -0.0, 0.0, 0.974162]
+  - name: "wood_block_1"
+    id: "786a16c7-2495-4b9f-b06a-398727331246"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.07762, -0.477446, 0.717094]
+    quat: [0.99161, -0.005074, 0.002502, 0.129141]
+    scale: [0.9, 0.9, 0.9]
+  - name: "knife_0"
+    id: "4780e997-1254-4d90-86de-ae7c57a92c88"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.382523, -0.265587, 0.679028]
+    quat: [-0.041824, -0.085874, -0.015217, 0.995311]
+  - name: "fork_0"
+    id: "622dff97-a95b-40ec-b0e9-2a08a3afb868"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.48319, -0.247985, 0.680094]
+    quat: [0.868044, -0.006029, -0.023173, 0.49591]
+  - name: "coffee_pot_0"
+    id: "04a3590b-2425-439a-b68c-820daa226b71"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.007142, -0.261724, 0.79322]
+    quat: [0.845289, 2.0e-06, 1.0e-06, -0.53431]
diff --git a/scenes/roboarena_scene15/roboarena_scene15.yaml b/scenes/roboarena_scene15/roboarena_scene15.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd543b0aeac16b0c10e457ab388118f770a487cb
--- /dev/null
+++ b/scenes/roboarena_scene15/roboarena_scene15.yaml
@@ -0,0 +1,52 @@
+Robot:
+  type: "Panda"
+  pos: [0.058325, -0.57778, 0.666641]
+  quat: [0.674405, 0.0, -0.0, 0.738362]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.999943, 0.0, 0.0, 0.01063]
+  - name: "cardboard_box_0"
+    id: "d4dc6286-db72-4fe0-a5cc-fe60eec119ee"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.058938, -0.09992, 0.707448]
+    quat: [0.384935, 0.378905, 0.585168, 0.604843]
+    scale: [0.8, 0.8, 0.8]
+  - name: "cable_0"
+    id: "7719fd4b-1d68-4b3e-85a2-927a370df86b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.108772, -0.00431, 0.688551]
+    quat: [-0.142317, -0.266049, 0.952163, -0.048466]
+  - name: "container_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.293251, -0.076908, 0.734528]
+    quat: [0.986333, 4.1e-05, 1.6e-05, -0.164763]
+    scale: [0.8, 0.8, 0.8]
+  - name: "block_0"
+    id: "ec6e42e1-617b-45c0-8a34-dcb6bfb0cf2a"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.172851, -0.066996, 0.764562]
+    quat: [0.384255, 0.590031, -0.378241, 0.600953]
+    scale: [1.5, 1.5, 1.5]
+  - name: "block_1"
+    id: "8fdcf2ec-6455-4e92-8264-3767bb943961"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.066291, -0.104476, 0.763172]
+    quat: [0.414344, 0.586621, -0.394781, 0.573011]
+    scale: [1.5, 1.5, 1.5]
+  - name: "block_2"
+    id: "edef838f-2c84-4606-8d61-3c910a008efd"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.073519, 0.077282, 0.766093]
+    quat: [-0.223004, 0.667943, 0.223906, 0.673786]
+    scale: [1.5, 1.5, 1.5]
diff --git a/scenes/roboarena_scene16/roboarena_scene16.yaml b/scenes/roboarena_scene16/roboarena_scene16.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..82c3db8597bd7200bd6612d98b66389f90075b4b
--- /dev/null
+++ b/scenes/roboarena_scene16/roboarena_scene16.yaml
@@ -0,0 +1,69 @@
+Robot:
+  type: "Panda"
+  pos: [-0.189265, -0.568839, 0.603751]
+  quat: [0.759947, 0.0, 0.0, 0.649986]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.042943, 0.0, 0.0, 0.999078]
+  - name: "wire_basket_0"
+    id: "f6df64be-8e13-4c01-bfad-25e7bdc354b6"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.560398, 0.018462, 0.694853]
+    quat: [0.734609, 0.0, 0.0, 0.678491]
+  - name: "box_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.222221, -0.121943, 0.74941]
+    quat: [-0.333463, -3.4e-05, 2.9e-05, 0.942763]
+  - name: "spoon_0"
+    id: "e599c11b-ffb5-45cd-b311-1778db12092f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.104584, -0.146805, 0.682132]
+    quat: [0.998888, 0.014102, -0.044617, -0.005737]
+  - name: "mug_0"
+    id: "933dd257-8ca3-4c44-b4f6-1b12d7bb5d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.038116, -0.270462, 0.716079]
+    quat: [0.886352, 0.000127, -0.004402, 0.46299]
+  - name: "bowl_0"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.259996, -0.146703, 0.70183]
+    quat: [0.977076, 0.000545, -0.003991, 0.212854]
+  - name: "can_0"
+    id: "61aac669-0c0e-4fb6-b1f6-093a1d090298"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.057455, 0.10055, 0.744731]
+    quat: [0.961005, 0.00238, 0.001053, -0.276518]
+    scale: [0.7, 0.7, 0.7]
+  - name: "carrot_0"
+    id: "64a3e5b6-4361-4eb8-bfcf-5742091d2fe6"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.148016, 0.079009, 0.695813]
+    quat: [0.23821, 0.488988, 0.572199, 0.613788]
+    scale: [0.5, 0.5, 0.5]
+  - name: "can_1"
+    id: "61aac669-0c0e-4fb6-b1f6-093a1d090298"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.309898, 0.137504, 0.744731]
+    quat: [0.665839, 8.3e-05, 0.002601, 0.746091]
+    scale: [0.7, 0.7, 0.7]
+  - name: "can_2"
+    id: "61aac669-0c0e-4fb6-b1f6-093a1d090298"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.228142, 0.203621, 0.725887]
+    quat: [0.698483, -0.594374, -0.383298, -0.109195]
+    scale: [0.7, 0.7, 0.7]
diff --git a/scenes/roboarena_scene17/roboarena_scene17.yaml b/scenes/roboarena_scene17/roboarena_scene17.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f97fa2924cf3f54de190e62f23cdb27ed6541371
--- /dev/null
+++ b/scenes/roboarena_scene17/roboarena_scene17.yaml
@@ -0,0 +1,57 @@
+Robot:
+  type: "Panda"
+  pos: [0.115073, -0.543694, 0.612609]
+  quat: [0.715371, 0.0, -0.0, 0.698745]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.042943, 0.0, 0.0, 0.999078]
+  - name: "plate_0"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.408282, -0.206599, 0.68701]
+    quat: [0.422116, 0.002474, -0.000351, 0.906538]
+  - name: "container_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.242492, 0.078513, 0.937307]
+    quat: [-0.663886, -0.0038, -0.007522, 0.747786]
+    scale: [0.7, 0.7, 0.7]
+  - name: "box_0"
+    id: "49dadafd-d7e9-4606-8c4d-6bdb379f7079"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.154504, 0.154601, 0.781694]
+    quat: [0.009575, 0.003262, -0.003451, 0.999943]
+    scale: [0.2, 0.2, 0.2]
+  - name: "hammer_0"
+    id: "0908f279-6b8d-4f62-9358-5002315686cd"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.195121, -0.089177, 0.687666]
+    quat: [0.667925, -0.000251, -3.2e-05, 0.744229]
+  - name: "plier_0"
+    id: "efcdaa93-db93-4fba-8d36-900b6629d60f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.037675, -0.20337, 0.660481]
+    quat: [0.00271, 0.523664, 0.85192, -0.000539]
+    scale: [0.01, 0.01, 0.01]
+  - name: "fork_0"
+    id: "622dff97-a95b-40ec-b0e9-2a08a3afb868"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.084146, -0.268821, 0.680094]
+    quat: [0.998708, -0.017481, -0.016363, -0.044824]
+  - name: "screwdriver_0"
+    id: "389806d4-81d9-4c56-903f-091765d78308"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.252831, -0.27637, 0.686793]
+    quat: [0.062157, 0.194349, -0.005272, 0.978947]
+    scale: [0.7, 0.7, 0.7]
diff --git a/scenes/roboarena_scene18/roboarena_scene18.yaml b/scenes/roboarena_scene18/roboarena_scene18.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..60ff8b27768dd73f86f34dca4dc4f7436a3eae48
--- /dev/null
+++ b/scenes/roboarena_scene18/roboarena_scene18.yaml
@@ -0,0 +1,74 @@
+Robot:
+  type: "Panda"
+  pos: [-0.27113, -0.942394, 0.674953]
+  quat: [0.740945, 0.0, 0.0, 0.671566]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [-0.618173, 0.0, 0.0, 0.786042]
+  - name: "spoon_0"
+    id: "e599c11b-ffb5-45cd-b311-1778db12092f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.009379, -0.687745, 0.718356]
+    quat: [0.795526, -0.08589, 0.364547, 0.476306]
+  - name: "basket_0"
+    id: "f6df64be-8e13-4c01-bfad-25e7bdc354b6"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [-0.34956, -0.321887, 0.685]
+    quat: [0.706973, -0.0, -0.0, 0.70724]
+  - name: "thermos_0"
+    id: "b72494c9-f11e-4e00-a941-670dfb3705be"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.226149, -0.524757, 0.675]
+    quat: [0.121229, 0.0, 0.0, 0.992625]
+    scale: [0.08, 0.08, 0.08]
+  - name: "bowl_0"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.31285, -0.401722, 0.854211]
+    quat: [0.99506, -0.00332, 0.001457, -0.099208]
+  - name: "bowl_1"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.112596, -0.222788, 0.745286]
+    quat: [0.658404, 0.067401, -0.055165, 0.747608]
+  - name: "cup_0"
+    id: "62804bd2-3c5f-494a-af5f-69de8a986a57"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.167252, -0.633788, 0.704012]
+    quat: [0.980028, 0.138156, 0.099524, -0.10273]
+  - name: "cup_1"
+    id: "3f9656d9-df08-4019-8d67-8193efeaa4d5"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.168879, -0.685944, 0.71284]
+    quat: [0.937098, 0.0, 0.0, -0.349066]
+  - name: "tape_0"
+    id: "cfe9af3b-2d29-4167-9d7c-304a5f213722"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.09689, -0.407155, 0.705325]
+    quat: [-0.432517, 0.013002, -0.046931, 0.90031]
+    scale: [0.0005, 0.0005, 0.0005]
+  - name: "mustard_bottle_0"
+    id: "ab371214-dbad-409a-bce3-139779dbf30f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.090785, -0.538612, 0.705309]
+    quat: [0.326794, 0.689063, 0.172884, 0.623304]
+  - name: "tray_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.172479, -0.323759, 0.72739]
+    quat: [0.89502, 0.0, 0.0, -0.446026]
+    scale: [0.9, 0.9, 0.5]
diff --git a/scenes/roboarena_scene19/roboarena_scene19.yaml b/scenes/roboarena_scene19/roboarena_scene19.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f4bc7756d68132eac7878d997f83d24be7b53a79
--- /dev/null
+++ b/scenes/roboarena_scene19/roboarena_scene19.yaml
@@ -0,0 +1,65 @@
+Robot:
+  type: "Panda"
+  pos: [0.328661, -0.432269, 0.628409]
+  quat: [0.335412, 0.0, -0.0, 0.942072]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.374489]
+    quat: [-0.470305, 0.0, 0.0, 0.882504]
+  - name: "toilet_roll_0"
+    id: "b98d2350-f5c6-44c5-9885-001a4dc93bd2"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.303531, -0.048894, 0.74751]
+    quat: [-0.424606, 0.352385, 0.613039, -0.565435]
+  - name: "towel_0"
+    id: "a12934b1-6feb-432d-b5be-84309dfbab66"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.235729, 0.113302, 0.721145]
+    quat: [-0.389794, 0.066609, -0.024406, 0.918166]
+    scale: [0.0005, 0.0005, 0.0005]
+  - name: "screwdriver_0"
+    id: "389806d4-81d9-4c56-903f-091765d78308"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.098305, -0.173787, 0.714253]
+    quat: [-0.282667, -0.080221, -0.065327, 0.953623]
+    scale: [0.7, 0.7, 0.7]
+  - name: "carrot_0"
+    id: "64a3e5b6-4361-4eb8-bfcf-5742091d2fe6"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.144458, -0.226052, 0.711056]
+    quat: [0.371677, -0.490629, -0.263379, 0.742813]
+    scale: [0.5, 0.5, 0.5]
+  - name: "gum_0"
+    id: "bb7b97a5-8614-45e3-af48-43f294b14694"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.021405, -0.23124, 0.715324]
+    quat: [0.553729, 0.707867, -0.319406, -0.300482]
+  - name: "box_0"
+    id: "4672836a-71e0-4f8e-81ac-7b0fbb9b05b7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.020968, -0.393257, 0.712516]
+    quat: [0.869725, 0.0, -0.0, -0.493536]
+    scale: [0.0002, 0.0002, 0.0002]
+  - name: "marker_0"
+    id: "1b5c3de0-ea1e-4a6a-aebf-c75c05951ed7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.015369, -0.00851, 0.699742]
+    quat: [0.932937, 0.01264, 0.028625, 0.358678]
+    scale: [0.16, 0.16, 0.16]
+  - name: "bag_0"
+    id: "ec144ddd-e1e3-4f5a-8994-481b43f7cf0d"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.237222, 0.152244, 0.872596]
+    quat: [0.250258, -0.001429, -0.002231, 0.968176]
+    scale: [0.01, 0.01, 0.01]
diff --git a/scenes/roboarena_scene2/roboarena_scene2.yaml b/scenes/roboarena_scene2/roboarena_scene2.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4719e44621587990e9be60d41d367d5b99d2ad4c
--- /dev/null
+++ b/scenes/roboarena_scene2/roboarena_scene2.yaml
@@ -0,0 +1,48 @@
+Robot:
+  type: "Panda"
+  pos: [0.323675, -0.554944, 0.602211]
+  quat: [0.548561, -0.0, -1.0e-06, 0.836111]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.91771, 0.0, 0.0, 0.39725]
+  - name: "drawer_0"
+    id: "2268e8ad-ab22-479a-90c8-56125c9a535c"
+    object_type: "Articulation"
+    body_type: "dynamic"
+    pos: [-0.144318, -0.091829, 0.683524]
+    quat: [0.885731, 0.0, -0.0, 0.464199]
+    scale: [0.6,0.6,0.6]
+    joints:
+      - name: "world_fixed_joint"
+        prim_path: "/World/drawer_0/cabinet/world_fixed_joint"
+        type: "fixed"
+        parent_link: "/World/drawer_0"
+        child_link: "/World/drawer_0/cabinet/corpus"
+      - name: "corpus_to_drawer_0_0"
+        prim_path: "/World/drawer_0/cabinet/corpus_to_drawer_0_0"
+        type: "prismatic"
+        parent_link: "/World/drawer_0/cabinet/corpus"
+        child_link: "/World/drawer_0/cabinet/drawer_0_0"
+        limit: [0.0, 0.2]
+      - name: "corpus_to_drawer_0_1"
+        prim_path: "/World/drawer_0/cabinet/corpus_to_drawer_0_1"
+        type: "prismatic"
+        parent_link: "/World/drawer_0/cabinet/corpus"
+        child_link: "/World/drawer_0/cabinet/drawer_0_1"
+        limit: [0.0, 0.2]
+      - name: "corpus_to_drawer_0_2"
+        prim_path: "/World/drawer_0/cabinet/corpus_to_drawer_0_2"
+        type: "prismatic"
+        parent_link: "/World/drawer_0/cabinet/corpus"
+        child_link: "/World/drawer_0/cabinet/drawer_0_2"
+        limit: [0.0, 0.2]
+  - name: "mug_0"
+    id: "933dd257-8ca3-4c44-b4f6-1b12d7bb5d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.106081, -0.357468, 0.716051]
+    quat: [0.481719, 0.001779, -0.004135, 0.876314]
diff --git a/scenes/roboarena_scene3/roboarena_scene3.yaml b/scenes/roboarena_scene3/roboarena_scene3.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..70da2728bc5dca7798ae407e826c0703e662d72a
--- /dev/null
+++ b/scenes/roboarena_scene3/roboarena_scene3.yaml
@@ -0,0 +1,37 @@
+Robot:
+  type: "Panda"
+  pos: [-0.0972, 0.0, 0.014991]
+  quat: [1.0, 0.0, 0.0, 0.0]
+Entities:
+  - name: "banana_0"
+    id: "7e5d869d-5b22-441f-86a4-8ee997f34a1b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.421224, 0.166958, 0.017158]
+    quat: [0.87487, -0.004433, 0.013919, 0.484137]
+  - name: "pen_0"
+    id: "1b5c3de0-ea1e-4a6a-aebf-c75c05951ed7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.267389, -0.226895, 0.004862]
+    quat: [0.744889, 0.555033, 0.255027, -0.268402]
+    scale: [0.16, 0.16, 0.16]
+  - name: "notebook_0"
+    id: "d61ddfd8-7641-402a-8d4c-cba8ab1f5bf0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.158556, 0.148806, -0.0]
+    quat: [0.980472, -0.0, 0.0, 0.196658]
+  - name: "grape_0"
+    id: "7df07ee3-2cf8-4e4f-9263-6d689edd8f27"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.645466, 0.125249, 0.059679]
+    quat: [0.908102, 0.003125, -0.005289, -0.418705]
+    scale: [0.008, 0.008, 0.008]
+  - name: "brick_0"
+    id: "ad8977d9-c9f8-42ef-a155-b644d98420a1"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.398035, 0.005227, 0.025207]
+    quat: [0.466309, 0.528341, -0.476629, 0.525582]
diff --git a/scenes/roboarena_scene4/roboarena_scene4.yaml b/scenes/roboarena_scene4/roboarena_scene4.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..f5170ba126a86f0364a95fe330f201fea772e119
--- /dev/null
+++ b/scenes/roboarena_scene4/roboarena_scene4.yaml
@@ -0,0 +1,46 @@
+Robot:
+  type: "Panda"
+  pos: [-0.110529, -0.260969, 0.7296]
+  quat: [0.373678, 0.0, 0.0, 0.927558]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "remote_control_0"
+    id: "ce545670-99d8-4a65-8fc9-ef83987a4c80"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.24027, -0.049151, 0.684645]
+    quat: [0.74004, -0.009276, 0.003756, 0.672488]
+    scale: [1.5, 1.5, 1.5]
+  - name: "tissue_box_0"
+    id: "16cabc37-7bd3-4857-99ea-f4c7f4bd1c04"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.509726, 0.110023, 0.699433]
+    quat: [-0.703706, -0.0028, -0.003055, 0.710479]
+    scale: [0.008, 0.008, 0.008]
+  - name: "box_0"
+    id: "d4dc6286-db72-4fe0-a5cc-fe60eec119ee"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.46571, -0.208278, 0.69528]
+    quat: [0.670749, 0.654125, 0.241062, 0.253191]
+    scale: [0.5, 0.5, 0.5]
+  - name: "box_1"
+    id: "49dadafd-d7e9-4606-8c4d-6bdb379f7079"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.17506, 0.250567, 0.75502]
+    quat: [-0.014786, 0.003343, -0.003378, 0.999879]
+    scale: [0.15, 0.15, 0.15]
+  - name: "towel_0"
+    id: "a12934b1-6feb-432d-b5be-84309dfbab66"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.631054, 0.262696, 0.695223]
+    quat: [-0.003383, 0.961345, 0.275324, 0.00042]
+    scale: [0.0005, 0.0005, 0.0005]
diff --git a/scenes/roboarena_scene5/roboarena_scene5.yaml b/scenes/roboarena_scene5/roboarena_scene5.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..03f168cb821ae2a14fd2b072eae0b61458b5944d
--- /dev/null
+++ b/scenes/roboarena_scene5/roboarena_scene5.yaml
@@ -0,0 +1,36 @@
+Robot:
+  type: "Panda"
+  pos: [0.383332, -0.487789, 0.635009]
+  quat: [0.330295, 0.0, 0.0, 0.943878]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [-0.517323, 0.0, 0.0, 0.855791]
+  - name: "juice_carton_0"
+    id: "3b91b80f-d619-4541-9a6f-57f2467fd763"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.10604, -0.253042, 0.730529]
+    quat: [0.14575, -0.110958, -0.540038, 0.821465]
+  - name: "cookie_box_0"
+    id: "1af0530e-2a47-4b8d-bb6a-d348231350cc"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.091046, -0.404963, 0.708391]
+    quat: [0.57116, 0.571122, 0.416991, 0.416791]
+  - name: "snack_box_0"
+    id: "7884e228-5f9f-491d-b4ca-53c46740f6de"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.083489, -0.07797, 0.692084]
+    quat: [0.637776, -0.635249, 0.30517, -0.310759]
+  - name: "mat_0"
+    id: "dadea4d5-9b91-4b0a-b536-56909071dd15"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.096915, -0.222034, 0.675]
+    quat: [0.925257, -0.0, -1.0e-06, -0.379342]
+    scale: [0.01, 0.01, 0.02]
diff --git a/scenes/roboarena_scene6/roboarena_scene6.yaml b/scenes/roboarena_scene6/roboarena_scene6.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..5b28c8ba37df6368212e2c38f019528943cd5ac4
--- /dev/null
+++ b/scenes/roboarena_scene6/roboarena_scene6.yaml
@@ -0,0 +1,44 @@
+Robot:
+  type: "Panda"
+  pos: [-0.356106, -0.683298, 0.466492]
+  quat: [0.629201, 0.0, 0.0, 0.777243]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "mug_0"
+    id: "933dd257-8ca3-4c44-b4f6-1b12d7bb5d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.385972, -0.203612, 0.716051]
+    quat: [0.93323, -0.003862, -0.002313, -0.359252]
+  - name: "mug_1"
+    id: "933dd257-8ca3-4c44-b4f6-1b12d7bb5d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.493793, -0.028351, 0.716079]
+    quat: [0.033111, 0.003895, -0.002055, 0.999442]
+  - name: "rubber_duck_0"
+    id: "ec37849c-5d2b-4c3e-9387-567d2f3d001c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.469838, -0.294377, 0.704103]
+    quat: [0.515545, -0.138951, 0.130242, 0.83543]
+    scale: [0.0002, 0.0002, 0.0002]
+  - name: "box_0"
+    id: "7884e228-5f9f-491d-b4ca-53c46740f6de"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.309979, -0.033575, 0.728673]
+    quat: [0.849895, 0.02494, 0.001279, -0.52636]
+    scale: [1.5, 1.5, 1.5]
+  - name: "rubber_duck_1"
+    id: "ec37849c-5d2b-4c3e-9387-567d2f3d001c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.570925, -0.126748, 0.695986]
+    quat: [0.076899, 0.818209, 0.189513, -0.537313]
+    scale: [0.0002, 0.0002, 0.0002]
diff --git a/scenes/roboarena_scene7/roboarena_scene7.yaml b/scenes/roboarena_scene7/roboarena_scene7.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..40eb8940e6ee7aae9aeb7f17f2f86efb5e6b4deb
--- /dev/null
+++ b/scenes/roboarena_scene7/roboarena_scene7.yaml
@@ -0,0 +1,74 @@
+Robot:
+  type: "Panda"
+  pos: [0.096467, 0.572075, 0.69208]
+  quat: [0.757357, -0.0, 0.0, -0.653001]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [1.0, 0.0, 0.0, 0.0]
+  - name: "bowl_0"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.039592, 0.125372, 0.720731]
+    quat: [0.010958, 0.26655, 0.106848, 0.957818]
+  - name: "container_0"
+    id: "2268e8ad-ab22-479a-90c8-56125c9a535c"
+    object_type: "Articulation"
+    body_type: "dynamic"
+    pos: [-0.360846, 0.170149, 0.703884]
+    quat: [0.576014, 0.0, 0.0, 0.81744]
+    scale: [0.6, 0.6, 0.6]
+    joints:
+      - name: "world_fixed_joint"
+        prim_path: "/World/container_0/cabinet/world_fixed_joint"
+        type: "fixed"
+        parent_link: "/World/container_0"
+        child_link: "/World/container_0/cabinet/corpus"
+      - name: "corpus_to_drawer_0_0"
+        prim_path: "/World/container_0/cabinet/corpus_to_drawer_0_0"
+        type: "prismatic"
+        parent_link: "/World/container_0/cabinet/corpus"
+        child_link: "/World/container_0/cabinet/drawer_0_0"
+        limit: [0.0, 0.2]
+      - name: "corpus_to_drawer_0_1"
+        prim_path: "/World/container_0/cabinet/corpus_to_drawer_0_1"
+        type: "prismatic"
+        parent_link: "/World/container_0/cabinet/corpus"
+        child_link: "/World/container_0/cabinet/drawer_0_1"
+        limit: [0.0, 0.2]
+      - name: "corpus_to_drawer_0_2"
+        prim_path: "/World/container_0/cabinet/corpus_to_drawer_0_2"
+        type: "prismatic"
+        parent_link: "/World/container_0/cabinet/corpus"
+        child_link: "/World/container_0/cabinet/drawer_0_2"
+        limit: [0.0, 0.2]
+  - name: "bowl_1"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.069744, 0.051926, 0.70174]
+    quat: [0.081769, 0.00324, 0.001041, 0.996646]
+  - name: "can_0"
+    id: "f4c15cde-dc9f-462b-8670-0def281cb38f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.031622, -0.091844, 0.707409]
+    quat: [-0.638898, -0.110435, 0.695233, -0.310264]
+  - name: "block_0"
+    id: "487dfabc-cdf2-42d9-b082-2672d0b949a7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.140407, -0.190343, 0.69736]
+    quat: [0.670481, 0.670757, 0.223797, 0.224623]
+    scale: [1.5, 1.5, 1.5]
+  - name: "tape_0"
+    id: "cfe9af3b-2d29-4167-9d7c-304a5f213722"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.041206, 0.332993, 0.700841]
+    quat: [0.555088, -0.0, 0.0, 0.831792]
+    scale: [0.0005, 0.0005, 0.0005]
diff --git a/scenes/roboarena_scene8/roboarena_scene8.yaml b/scenes/roboarena_scene8/roboarena_scene8.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..11f31e389525f67dac57a472bfa5f53211268090
--- /dev/null
+++ b/scenes/roboarena_scene8/roboarena_scene8.yaml
@@ -0,0 +1,49 @@
+Robot:
+  type: "Panda"
+  pos: [0.215674, 0.532637, 0.637567]
+  quat: [-0.384671, 0.0, -0.0, 0.923054]
+Entities:
+  - name: "table_1"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.920905, 0.0, 0.0, -0.389788]
+  - name: "cable_0"
+    id: "7719fd4b-1d68-4b3e-85a2-927a370df86b"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.091934, 0.286766, 0.693356]
+    quat: [-0.266256, 0.002643, -0.018648, 0.963718]
+  - name: "cup_0"
+    id: "933dd257-8ca3-4c44-b4f6-1b12d7bb5d8c"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.341226, 0.352202, 0.71608]
+    quat: [0.202849, 0.001222, -0.005843, 0.979192]
+  - name: "notebook_0"
+    id: "d61ddfd8-7641-402a-8d4c-cba8ab1f5bf0"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.122726, 0.429354, 0.6755]
+    quat: [0.903372, -0.0, -0.0, 0.428857]
+  - name: "box_0"
+    id: "d4dc6286-db72-4fe0-a5cc-fe60eec119ee"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.489096, 0.17661, 0.779674]
+    quat: [0.963755, -0.013296, 0.004672, -0.266416]
+    scale: [0.6, 0.6, 0.6]
+  - name: "block_0"
+    id: "1c3e6186-8979-4e31-9126-c16f615f56ad"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.311036, 0.165007, 0.68992]
+    quat: [-0.197858, 0.011682, -0.006352, 0.980141]
+    scale: [1.8, 1.8, 1.8]
+  - name: "dish_0"
+    id: "75f79368-2ee2-49ba-a88f-5b7a6ff39983"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.050116, 0.04546, 0.68701]
+    quat: [0.999332, 0.000813, -0.002363, 0.036469]
diff --git a/scenes/roboarena_scene9/roboarena_scene9.yaml b/scenes/roboarena_scene9/roboarena_scene9.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..a557cc4fae6acc43a12145da82b1a8d21f9108f6
--- /dev/null
+++ b/scenes/roboarena_scene9/roboarena_scene9.yaml
@@ -0,0 +1,62 @@
+Robot:
+  type: "Panda"
+  pos: [0.035634, -0.597332, 0.669262]
+  quat: [0.720751, 0.0, -0.0, 0.693194]
+Entities:
+  - name: "table_0"
+    id: "f29a4a4c-9ae5-42c8-aada-bab6601ef34f"
+    object_type: "Actor"
+    body_type: "static"
+    pos: [0.0, 0.0, 0.354611]
+    quat: [0.990367, 0.0, 0.0, -0.13847]
+  - name: "bowl_0"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.441405, -0.43537, 0.70174]
+    quat: [0.866541, -0.000441, -0.003373, -0.499095]
+  - name: "carrot_0"
+    id: "64a3e5b6-4361-4eb8-bfcf-5742091d2fe6"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.051726, 0.057186, 0.69575]
+    quat: [0.400081, 0.789357, 0.045967, 0.463397]
+    scale: [0.5, 0.5, 0.5]
+  - name: "bowl_1"
+    id: "17c40655-861b-4539-a3cc-95bd2c5a11ec"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.587081, -0.314468, 0.701805]
+    quat: [0.920869, 0.001513, -0.004536, 0.389842]
+  - name: "container_0"
+    id: "686e4f67-2cf8-46f7-9aa7-e96276e8f17f"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.250974, 0.188606, 0.749432]
+    quat: [-0.597624, -4.6e-05, 0.000111, 0.801777]
+  - name: "hammer_0"
+    id: "0908f279-6b8d-4f62-9358-5002315686cd"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.004856, -0.178387, 0.687666]
+    quat: [-0.344248, -8.9e-05, -0.000237, 0.938879]
+  - name: "tape_0"
+    id: "cfe9af3b-2d29-4167-9d7c-304a5f213722"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.540006, -0.055464, 0.70171]
+    quat: [-0.066635, -0.000888, -0.003515, 0.997771]
+    scale: [0.0005, 0.0005, 0.0005]
+  - name: "magazine_0"
+    id: "248c06a0-d52f-4fdd-aaa9-81fe2f390039"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [0.296844, -0.120731, 0.6758]
+    quat: [-0.584131, 0.0, -0.0, 0.81166]
+  - name: "marker_0"
+    id: "1b5c3de0-ea1e-4a6a-aebf-c75c05951ed7"
+    object_type: "Actor"
+    body_type: "dynamic"
+    pos: [-0.034216, -0.270807, 0.67984]
+    quat: [-0.468134, 0.732118, -0.026775, 0.494101]
+    scale: [0.16, 0.16, 0.16]
diff --git a/utils/background.usd b/utils/background.usd
new file mode 100644
index 0000000000000000000000000000000000000000..739004299d776e981f06472924c5d9c7ed821985
Binary files /dev/null and b/utils/background.usd differ
diff --git a/utils/frame_prim.usd b/utils/frame_prim.usd
new file mode 100644
index 0000000000000000000000000000000000000000..cf2266c4fa19b8c6806d145f9472044dd6b9d75e
Binary files /dev/null and b/utils/frame_prim.usd differ
diff --git a/utils/ground_plane.usd b/utils/ground_plane.usd
new file mode 100644
index 0000000000000000000000000000000000000000..08c5e28b60f7d8e901ac2091351238c496e2df9d
Binary files /dev/null and b/utils/ground_plane.usd differ