diff --git a/data_gen_dependencies/__init__.py b/data_gen_dependencies/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/data_gen_dependencies/data_generate.py b/data_gen_dependencies/data_generate.py
new file mode 100644
index 0000000..e644975
--- /dev/null
+++ b/data_gen_dependencies/data_generate.py
@@ -0,0 +1,23 @@
+
+def generate_data():
+
+
+    robot = IsaacSimRpcRobot(robot_cfg=robot_cfg, scene_usd=task_info['scene']['scene_usd'],
+                             client_host=args.client_host,
+                             position=robot_position, rotation=robot_rotation, stand_type=stand["stand_type"],
+                             stand_size_x=stand["stand_size_x"], stand_size_y=stand["stand_size_y"])
+    # planner = ManipulationPlanner()
+    agent = Agent(robot, None)
+    render_semantic = False
+    if "render_semantic" in task_info["recording_setting"]:
+        render_semantic = task_info["recording_setting"]["render_semantic"]
+    agent.run(task_folder=task_folder,
+              camera_list=task_info["recording_setting"]["camera_list"],
+              use_recording=args.use_recording,
+              workspaces=task_info['scene']['function_space_objects'],
+              fps=task_info["recording_setting"]["fps"],
+              render_semantic=render_semantic,
+
+              )
+    print("job done")
+    robot.client.Exit()
\ No newline at end of file
diff --git a/runners/data_generator.py b/runners/data_generator.py
index 39b161d..1598d70 100644
--- a/runners/data_generator.py
+++ b/runners/data_generator.py
@@ -1,5 +1,7 @@
+from pyboot import stereotype
 from pyboot.runner import Runner
 
+@stereotype.runner("data_generator")
 class DataGenerator(Runner):
     def __init__(self, config_path: str):
         super().__init__(config_path)
diff --git a/runners/data_recorder.py b/runners/data_recorder.py
index de61368..b66a8b6 100644
--- a/runners/data_recorder.py
+++ b/runners/data_recorder.py
@@ -1,5 +1,7 @@
+from pyboot import stereotype
 from pyboot.runner import Runner
 
+@stereotype.runner("data_recorder")
 class DataRecorder(Runner):
     def __init__(self, config_path: str):
         super().__init__(config_path)
diff --git a/runners/task_generator.py b/runners/task_generator.py
index 396e688..e626052 100644
--- a/runners/task_generator.py
+++ b/runners/task_generator.py
@@ -1,10 +1,13 @@
 import json
 import os
 
+from pyboot import stereotype
 from pyboot.runner import Runner
 from pyboot.utils.log import Log
 from task_gen_dependencies.task_generate import OldTaskGenerator
 
+
+@stereotype.runner("task_generator")
 class TaskGenerator(Runner):
     def __init__(self, config_path: str):
         super().__init__(config_path)
diff --git a/runners/task_templates_divider.py b/runners/task_templates_divider.py
index 3d5de45..23684a1 100644
--- a/runners/task_templates_divider.py
+++ b/runners/task_templates_divider.py
@@ -2,9 +2,11 @@ import os
 import shutil
 import json
 
+from pyboot import stereotype
 from pyboot.runner import Runner
 from pyboot.utils.log import Log
 
+@stereotype.runner("task_templates_divider")
 class TaskTemplatesDivider(Runner):
     def __init__(self, config_path: str):
         super().__init__(config_path)
diff --git a/task_gen_dependencies/task_generate.py b/task_gen_dependencies/task_generate.py
index 6ff97a0..e73f9e6 100644
--- a/task_gen_dependencies/task_generate.py
+++ b/task_gen_dependencies/task_generate.py
@@ -2,6 +2,8 @@
 
 import os
 import json
+from copy import copy, deepcopy
+
 import numpy as np
 from task_gen_dependencies.object import OmniObject
 from task_gen_dependencies.layout_object import LayoutObject
@@ -208,16 +210,31 @@ class OldTaskGenerator:
             self.layouts[key] = LayoutGenerator(ws, obj_infos, objects, key_ids, extra_ids, constraint=constraint,
                                                 fix_obj_ids=self.fix_obj_ids)
 
+        self.stand = {
+            "stand_type": "cylinder",
+            "stand_size_x": 0.1,
+            "stand_size_y": 0.1
+        }
+        if "robot" not in task_template:
+            self.robot_cfg = "A2D_120s.json"
+        else:
+            self.robot_cfg = task_template["robot"]["robot_cfg"]
+            if "stand" in task_template["robot"]:
+                self.stand = task_template["robot"]["stand"]
+
     def generate_tasks(self, save_path, task_num, task_name):
         os.makedirs(save_path, exist_ok=True)
 
         for i in range(task_num):
+            task_instance = deepcopy(self.task_template)
             output_file = os.path.join(save_path, f'{task_name}_%d.json' % (i))
-            self.task_template['objects'] = []
-            self.task_template['objects'] += self.fix_obj_infos
-            self.task_template['robot'] = {
+            task_instance['objects'] = []
+            task_instance['objects'] += self.fix_obj_infos
+            task_instance['robot'] = {
                 "init_position" : self.robot_init_pose["position"],
                 "init_rotation" : self.robot_init_pose["quaternion"],
+                "robot_cfg": self.robot_cfg,
+                "stand": self.stand,
             }
 
             flag_failed = False
@@ -228,11 +245,11 @@ class OldTaskGenerator:
                         flag_failed = True
                         break
                     continue
-                self.task_template['objects'] += obj_infos
+                task_instance['objects'] += obj_infos
             for object_info in self.obj_infos:
                 if object_info == 'fix_pose':
                     fix_pose_dict = self.obj_infos['fix_pose']
-                    self.task_template['objects'].append(fix_pose_dict)
+                    task_instance['objects'].append(fix_pose_dict)
                     break
             if flag_failed:
                 Log.warning(f"Failed to place key object, skipping")
@@ -240,6 +257,6 @@ class OldTaskGenerator:
 
             Log.info('Saved task json to %s' % output_file)
             with open(output_file, 'w') as f:
-                json.dump(self.task_template, f, indent=4)
+                json.dump(task_instance, f, indent=4)
 
 # -------------------------------------------------------------
\ No newline at end of file