diff --git a/fetch/__init__.py b/fetch/__init__.py
index 3e787c8..4617c64 100644
--- a/fetch/__init__.py
+++ b/fetch/__init__.py
@@ -38,6 +38,7 @@ def vec_clean_env(**kwargs):
     return env
 
 
+# the box-fixed envs.
 register(id='Clean-i-v0', entry_point=vec_clean_env, kwargs=dict(
     initial_qpos={'object1:joint': [1.1, 0.95, .4, 0, 0., 0., 0.]},
     obj_reset={'object0': dict(avoid=['gripper', 'box']),
@@ -60,6 +61,32 @@ def vec_clean_env(**kwargs):
                    'object1': dict(target="box", range=0), },
 ), **kw)
 
+# the box-aside env.s
+register(id='Clean-aside-i-v0', entry_point=vec_clean_env, kwargs=dict(
+    initial_qpos={'object1:joint': [1.1, 0.95, .4, 0, 0., 0., 0.],
+                  'box:joint': [1.25, 0.53, 0.6, 0, 0., 0., 0.], },
+    obj_reset={'object0': dict(avoid=['gripper', 'box']),
+               'object1': dict(avoid=['gripper', 'box']), },
+    goal_sampling={'object0': dict(target="box", range=0),
+                   'object1': dict(target="object1", range=0, offset=[0, 0, 0]), },
+), **kw)
+register(id='Clean-aside-ii-v0', entry_point=vec_clean_env, kwargs=dict(
+    initial_qpos={'box:joint': [1.25, 0.53, 0.6, 0, 0., 0., 0.], },
+    obj_reset={'object0': dict(track='box', avoid=['gripper'], range=0),
+               'object1': dict(avoid=['gripper', 'box']), },
+    goal_sampling={'object0': dict(target="box", range=0),
+                   'object1': dict(target="box", range=0), },
+), **kw)
+register(id='Clean-aside-train-v0', entry_point=SampleEnv,
+         kwargs={'fetch:Clean-i-v0': 0.5, 'fetch:Clean-ii-v0': 0.5, }, **kw)
+register(id='Clean-aside-v0', entry_point=vec_clean_env, kwargs=dict(
+    initial_qpos={'box:joint': [1.25, 0.53, 0.6, 0, 0., 0., 0.], },
+    obj_reset={'object0': dict(avoid=['gripper', 'box']),
+               'object1': dict(avoid=['gripper', 'box']), },
+    goal_sampling={'object0': dict(target="box", range=0),
+                   'object1': dict(target="box", range=0), },
+), **kw)
+
 # ------------------ TwinBox Multi-task Environments -------------------
 # register(id='TwinBox-v0', entry_point=TwinBoxEnv, kwargs=dict(), **kw)
 # register(id='TwinBox-place-red-v0', entry_point=TwinBoxEnv, kwargs=dict(action="place-red", ), **kw)
diff --git a/specs/tasksets/clean.md b/specs/tasksets/clean.md
index b8e6e67..f721e0c 100644
--- a/specs/tasksets/clean.md
+++ b/specs/tasksets/clean.md
@@ -21,15 +21,27 @@ twin_box_envs = [
     'fetch:Clean-i-v0',
     'fetch:Clean-ii-v0',
     'fetch:Clean-train-v0',
-    'fetch:Clean-v0'
+    'fetch:Clean-v0',
+    'fetch:Clean-aside-i-v0',
+    'fetch:Clean-aside-ii-v0',
+    'fetch:Clean-aside-train-v0',
+    'fetch:Clean-aside-v0',
 ]
 ```
 | **Clean-i-v0** | **distribution** |   |
 |:--------------:|:----------------:|:-:|
-| ![figures/Clean-i-v0_init.png?ts=294528](figures/Clean-i-v0_init.png?ts=294528) | ![figures/Clean-i-v0_reset.png?ts=417121](figures/Clean-i-v0_reset.png?ts=417121) | ![figures/Clean-i-v0.gif?ts=179419](figures/Clean-i-v0.gif?ts=179419) |
+| ![figures/Clean-i-v0_init.png?ts=893891](figures/Clean-i-v0_init.png?ts=893891) | ![figures/Clean-i-v0_reset.png?ts=020709](figures/Clean-i-v0_reset.png?ts=020709) | ![figures/Clean-i-v0.gif?ts=933636](figures/Clean-i-v0.gif?ts=933636) |
 | **Clean-ii-v0** | **distribution** |   |
-| ![figures/Clean-ii-v0_init.png?ts=864703](figures/Clean-ii-v0_init.png?ts=864703) | ![figures/Clean-ii-v0_reset.png?ts=917603](figures/Clean-ii-v0_reset.png?ts=917603) | ![figures/Clean-ii-v0.gif?ts=726306](figures/Clean-ii-v0.gif?ts=726306) |
+| ![figures/Clean-ii-v0_init.png?ts=583763](figures/Clean-ii-v0_init.png?ts=583763) | ![figures/Clean-ii-v0_reset.png?ts=661571](figures/Clean-ii-v0_reset.png?ts=661571) | ![figures/Clean-ii-v0.gif?ts=472119](figures/Clean-ii-v0.gif?ts=472119) |
 | **Clean-train-v0** | **distribution** |   |
-| ![figures/Clean-train-v0_init.png?ts=629332](figures/Clean-train-v0_init.png?ts=629332) | ![figures/Clean-train-v0_reset.png?ts=794904](figures/Clean-train-v0_reset.png?ts=794904) | ![figures/Clean-train-v0.gif?ts=845322](figures/Clean-train-v0.gif?ts=845322) |
+| ![figures/Clean-train-v0_init.png?ts=215769](figures/Clean-train-v0_init.png?ts=215769) | ![figures/Clean-train-v0_reset.png?ts=394996](figures/Clean-train-v0_reset.png?ts=394996) | ![figures/Clean-train-v0.gif?ts=426037](figures/Clean-train-v0.gif?ts=426037) |
 | **Clean-v0** | **distribution** |   |
-| ![figures/Clean-v0_init.png?ts=499010](figures/Clean-v0_init.png?ts=499010) | ![figures/Clean-v0_reset.png?ts=603128](figures/Clean-v0_reset.png?ts=603128) | ![figures/Clean-v0.gif?ts=464708](figures/Clean-v0.gif?ts=464708) |
+| ![figures/Clean-v0_init.png?ts=114485](figures/Clean-v0_init.png?ts=114485) | ![figures/Clean-v0_reset.png?ts=169328](figures/Clean-v0_reset.png?ts=169328) | ![figures/Clean-v0.gif?ts=051694](figures/Clean-v0.gif?ts=051694) |
+| **Clean-aside-i-v0** | **distribution** |   |
+| ![figures/Clean-aside-i-v0_init.png?ts=782709](figures/Clean-aside-i-v0_init.png?ts=782709) | ![figures/Clean-aside-i-v0_reset.png?ts=881644](figures/Clean-aside-i-v0_reset.png?ts=881644) | ![figures/Clean-aside-i-v0.gif?ts=674909](figures/Clean-aside-i-v0.gif?ts=674909) |
+| **Clean-aside-ii-v0** | **distribution** |   |
+| ![figures/Clean-aside-ii-v0_init.png?ts=421882](figures/Clean-aside-ii-v0_init.png?ts=421882) | ![figures/Clean-aside-ii-v0_reset.png?ts=523422](figures/Clean-aside-ii-v0_reset.png?ts=523422) | ![figures/Clean-aside-ii-v0.gif?ts=303254](figures/Clean-aside-ii-v0.gif?ts=303254) |
+| **Clean-aside-train-v0** | **distribution** |   |
+| ![figures/Clean-aside-train-v0_init.png?ts=385627](figures/Clean-aside-train-v0_init.png?ts=385627) | ![figures/Clean-aside-train-v0_reset.png?ts=563027](figures/Clean-aside-train-v0_reset.png?ts=563027) | ![figures/Clean-aside-train-v0.gif?ts=678045](figures/Clean-aside-train-v0.gif?ts=678045) |
+| **Clean-aside-v0** | **distribution** |   |
+| ![figures/Clean-aside-v0_init.png?ts=449968](figures/Clean-aside-v0_init.png?ts=449968) | ![figures/Clean-aside-v0_reset.png?ts=541597](figures/Clean-aside-v0_reset.png?ts=541597) | ![figures/Clean-aside-v0.gif?ts=397963](figures/Clean-aside-v0.gif?ts=397963) |
diff --git a/specs/tasksets/clean.py b/specs/tasksets/clean.py
index b412bb4..31b2a8e 100644
--- a/specs/tasksets/clean.py
+++ b/specs/tasksets/clean.py
@@ -26,7 +26,11 @@
             'fetch:Clean-i-v0',
             'fetch:Clean-ii-v0',
             'fetch:Clean-train-v0',
-            'fetch:Clean-v0'
+            'fetch:Clean-v0',
+            'fetch:Clean-aside-i-v0',
+            'fetch:Clean-aside-ii-v0',
+            'fetch:Clean-aside-train-v0',
+            'fetch:Clean-aside-v0',
         ]
 
     table = doc.table()
diff --git a/specs/tasksets/figures/Clean-aside-i-v0.gif b/specs/tasksets/figures/Clean-aside-i-v0.gif
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new file mode 100644
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