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pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000000/ep_meta.json

@@ -0,0 +1,446 @@
+{
+    "layout_id": 43,
+    "style_id": 41,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
+            "object_scale": 0.8,
+            "placement": {
+                "fixture": "blender_left_group_1",
+                "size": [
+                    0.4,
+                    0.4
+                ],
+                "pos": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "fruit"
+                ],
+                "cat": "apple",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_19/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    0.013421154433977478
+                ],
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+                    0.09101906042657373
+                ],
+                "height": 0.17275176665103317,
+                "name": "int"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.006_room": {
+            "cls": "WallAccessory"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
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+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
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+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        },
+        "blender_left_group_1": {
+            "cls": "Blender"
+        },
+        "blender_left_group_1_auxiliary_left_group_1": {
+            "cls": "BlenderLid"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+            "quat": [
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+                0.29935253,
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+                1.05
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0.95
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+                0.3814677894115448,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
+            ],
+            "quat": [
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+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.575057845889974,
+        -1.8378648560020894,
+        0.0
+    ],
+    "init_robot_base_ori": [
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+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000001/ep_meta.json

@@ -0,0 +1,411 @@
+{
+    "layout_id": 46,
+    "style_id": 37,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
+            "object_scale": 0.8,
+            "placement": {
+                "fixture": "blender_front_group_1",
+                "size": [
+                    0.4,
+                    0.4
+                ],
+                "pos": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mango",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "fruit"
+                ],
+                "cat": "mango",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_16/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.012516859905058835,
+                    0.006872456330833544,
+                    0.014214094964702528
+                ],
+                "size": [
+                    0.09936384955754798,
+                    0.09936384955754798
+                ],
+                "height": 0.11916880399278187,
+                "name": "int"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "cube_1_dining_area_group": {
+            "cls": "Box"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_front_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_front_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_front_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "blender_front_group_1": {
+            "cls": "Blender"
+        },
+        "blender_front_group_1_auxiliary_front_group_1": {
+            "cls": "BlenderLid"
+        },
+        "cube_1_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_base": {
+            "cls": "Box"
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000008/ep_meta.json

@@ -0,0 +1,414 @@
+{
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000011/ep_meta.json

@@ -0,0 +1,447 @@
+{
+    "layout_id": 24,
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+            "cls": "Microwave"
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+            "cls": "FridgeSideBySide"
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+            "cls": "Sink"
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+        "island_island_group_1": {
+            "cls": "Counter"
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+            "cls": "Box"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000024/ep_meta.json

@@ -0,0 +1,420 @@
+{
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+        "toaster_oven_right_group_1": {
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+        },
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+            "cls": "Blender"
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "blender_right_group_1_auxiliary_right_group_1": {
+            "cls": "BlenderLid"
+        },
+        "island_island_group": {
+            "cls": "Counter"
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+        "stack_1_island_group_base": {
+            "cls": "Box"
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+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
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+        "box_1_island_group": {
+            "cls": "Box"
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+        "box_2_island_group": {
+            "cls": "Box"
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+        "stack_2_island_group_3": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000025/ep_meta.json

@@ -0,0 +1,445 @@
+{
+    "layout_id": 43,
+    "style_id": 44,
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+            "cls": "Counter"
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+        "cube_1_front_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+            "cls": "Counter"
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+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
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+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "bottom_right_group_1_1": {
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+            "cls": "Microwave"
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+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
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+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
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+        "top_right_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Sink"
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+        "counter_2_left_group_1": {
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+            "cls": "SingleCabinet"
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+            "cls": "Drawer"
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+        "cube_2_left_group_1": {
+            "cls": "Box"
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+        "blender_left_group_1": {
+            "cls": "Blender"
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+        "blender_left_group_1_auxiliary_left_group_1": {
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+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000027/ep_meta.json

@@ -0,0 +1,453 @@
+{
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+    "style_id": 12,
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+        "wall_front_1_backing_room": {
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_backing_room": {
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+            "cls": "ToasterOven"
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+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
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+        "dining_dining_area_group_1": {
+            "cls": "Counter"
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+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
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+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_dining_area_group_1_2": {
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+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
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+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+            "cls": "Drawer"
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+        "dining_dining_area_group_2": {
+            "cls": "Counter"
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000028/ep_meta.json

@@ -0,0 +1,417 @@
+{
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+                "cat": "kiwi",
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+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.464987857828484,
+        -2.8775749703826867,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712205636499415
+    ]
+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000033/ep_meta.json

@@ -0,0 +1,465 @@
+{
+    "layout_id": 17,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
+            "object_scale": 0.8,
+            "placement": {
+                "fixture": "blender_island_group_1",
+                "size": [
+                    0.4,
+                    0.4
+                ],
+                "pos": [
+                    0,
+                    0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tangerine",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "fruit"
+                ],
+                "cat": "tangerine",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.02605739774047334,
+                    0.008192442147835214,
+                    0.0432835040563902
+                ],
+                "size": [
+                    0.13414127796850733,
+                    0.13414127796850733
+                ],
+                "height": 0.1502762104645464,
+                "name": "int"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000048/ep_meta.json

@@ -0,0 +1,408 @@
+{
+    "layout_id": 26,
+    "style_id": 19,
+    "object_cfgs": [
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+            "name": "obj",
+            "obj_groups": "fruit",
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+                    "all",
+                    "pear",
+                    "fruit",
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+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
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+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
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+        "floor_1_room": {
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+        "wall_accessory_2_room": {
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+            "cls": "WallAccessory"
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+        "stack_2_main_group_3": {
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+        "stack_1_front_group_1": {
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+            "cls": "Dishwasher"
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+        "stack_2_front_group_base": {
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+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
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+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
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+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000053/ep_meta.json

@@ -0,0 +1,396 @@
+{
+    "layout_id": 53,
+    "style_id": 32,
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+            "obj_groups": "fruit",
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kiwi",
+                    "fruit",
+                    "food",
+                    "in_container"
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+                "groups": [
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+                "cat": "kiwi",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
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+        "wall_front_1_backing_room": {
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+        "wall_right_1_room": {
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+            "cls": "SingleCabinet"
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+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_right_group_1": {
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+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
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+        "stack_6_right_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "SingleCabinet"
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+        "stack_8_right_group_1_base": {
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+        "stack_8_right_group_1_1": {
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+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+        "hingecabinet_4_front_group_1": {
+            "cls": "HingeCabinet"
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+        "counter_3_front_group_1": {
+            "cls": "Counter"
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+        "stack_9_front_group_1_base": {
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+            "cls": "SingleCabinet"
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+        "cube_1_front_group_1": {
+            "cls": "Box"
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+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
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+            "cls": "CoffeeMachine"
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000056/ep_meta.json

@@ -0,0 +1,387 @@
+{
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+                    "fruit",
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+        "stack_2_front_group_3": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000060/ep_meta.json

@@ -0,0 +1,417 @@
+{
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_18/model.xml"
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+        "floor_1_backing_room": {
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+            "cls": "SingleCabinet"
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+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_10_island_group_1_base": {
+            "cls": "Box"
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+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "cube_1_island_group_1": {
+            "cls": "Box"
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+        "blender_island_group_1": {
+            "cls": "Blender"
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+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
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+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000073/ep_meta.json

@@ -0,0 +1,381 @@
+{
+    "layout_id": 45,
+    "style_id": 24,
+    "object_cfgs": [
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+            "obj_groups": "fruit",
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+            "cls": "Wall"
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+        "hingecabinet_1_right_group_1": {
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+            "cls": "Toaster"
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+        "stack_2_right_group_1_base": {
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+        },
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+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
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+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
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+    "lang": "Turn on the blender by pressing the power button.",
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000074/ep_meta.json

@@ -0,0 +1,411 @@
+{
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_16/model.xml"
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+        "wall_right_1_backing_room": {
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+        "wall_main_2_backing_room": {
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+            "cls": "Dishwasher"
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000076/ep_meta.json

@@ -0,0 +1,483 @@
+{
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+    "style_id": 58,
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+            "cls": "Blender"
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+            "cls": "BlenderLid"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
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+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
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+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
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+        "stack_1_island_group_2_base": {
+            "cls": "Box"
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+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
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+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
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+            "cls": "Box"
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+        "stack_2_island_group_2_1": {
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+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
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+        "stack_3_island_group_2_base": {
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+            "cls": "Drawer"
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+        "panel_stack_2_island_group_2_base": {
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+            "cls": "SingleCabinet"
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+        "toaster_oven_front_group_2": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000078/ep_meta.json

@@ -0,0 +1,306 @@
+{
+    "layout_id": 40,
+    "style_id": 24,
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+        "lightswitch_room": {
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+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "papertowel_main_group_1": {
+            "cls": "Accessory"
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+            "cls": "SingleCabinet"
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+        "stack_1_right_group_1_base": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000084/ep_meta.json

@@ -0,0 +1,358 @@
+{
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pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000092/ep_meta.json

@@ -0,0 +1,327 @@
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000100/ep_meta.json

@@ -0,0 +1,408 @@
+{
+    "layout_id": 31,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
+            "object_scale": 0.8,
+            "placement": {
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+                    0.4
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+                "pos": [
+                    0,
+                    0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pear",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "fruit"
+                ],
+                "cat": "pear",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_13/model.xml"
+            },
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+                "name": "int"
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "oven_main_group_1": {
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+            "cls": "Microwave"
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+        "hingecabinet_2_main_group_1": {
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+        "cube_1_main_group_1": {
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+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "microwave_housing_main_group_1": {
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+        "stack_2_right_group_1_1": {
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+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
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+        "coffee_machine_right_group_1": {
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+        "toaster_right_group_1": {
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+        },
+        "papertowel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
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+        "cube_2_island_group_1": {
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+        "stack_3_island_group_1_base": {
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+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_4_island_group_1_base": {
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+        "stack_4_island_group_1_1": {
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+        "stack_5_island_group_1_base": {
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