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pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000002/ep_meta.json

@@ -0,0 +1,399 @@
+{
+    "layout_id": 47,
+    "style_id": 49,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
+            "object_scale": 0.8,
+            "placement": {
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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_12/model.xml"
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+        "wall_main_1_backing_room": {
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+        "wall_front_1_room": {
+            "cls": "Wall"
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+        "wall_front_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
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+            "cls": "Wall"
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+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_6.001_room": {
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+            "cls": "CoffeeMachine"
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+            "cls": "Toaster"
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+            "cls": "FridgeSideBySide"
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+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+            "cls": "HingeCabinet"
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+        "stove_main_group_1": {
+            "cls": "Stove"
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
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+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
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+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
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+        "papertowel_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_04_front_group_2": {
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+        "stack_10_front_group_2_base": {
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+            "cls": "SingleCabinet"
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+        "blender_front_group_2_auxiliary_front_group_2": {
+            "cls": "BlenderLid"
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000004/ep_meta.json

@@ -0,0 +1,447 @@
+{
+    "layout_id": 24,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
+            "object_scale": 0.8,
+            "placement": {
+                "fixture": "blender_island_group_1",
+                "size": [
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+                    0.4
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+                "pos": [
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+                    0
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+            },
+            "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_0/model.xml"
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+                "name": "int"
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+        }
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+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_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"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "counter_1_main_group": {
+            "cls": "Counter"
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+        "stove_main_group": {
+            "cls": "Stove"
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+        "counter_2_main_group": {
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+        "stack_1_main_group_3": {
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+        "stack_2_main_group_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
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+        "stack_3_main_group_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1": {
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_3_main_group_6": {
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
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+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "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_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
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+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_5_island_group_1_base": {
+            "cls": "Box"
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+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
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+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000007/ep_meta.json

@@ -0,0 +1,447 @@
+{
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+    "style_id": 40,
+    "object_cfgs": [
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+                    "fruit",
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+            "cls": "Wall"
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+        "wall_main_3_room": {
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+            "cls": "WallAccessory"
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+        "oven_housing_left_group_1": {
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+        "microwave_left_group_1": {
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+        "microwave_housing_left_group_1": {
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+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1": {
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+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
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+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        },
+        "plant_island_group": {
+            "cls": "Accessory"
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+        "blender_island_group": {
+            "cls": "Blender"
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+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
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+        "stool_1_stool_group_1": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000010/ep_meta.json

@@ -0,0 +1,417 @@
+{
+    "layout_id": 51,
+    "style_id": 22,
+    "object_cfgs": [
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+            "obj_groups": "fruit",
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+                    "fruit",
+                    "food",
+                    "in_container"
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+                    "fruit"
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+                "cat": "tangerine",
+                "split": "train",
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "papertowel_main_group_1": {
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+            "cls": "Accessory"
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+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "fridgefrenchdoor_main_group_1": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000014/ep_meta.json

@@ -0,0 +1,422 @@
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+            "cls": "BlenderLid"
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+        "island_island_group": {
+            "cls": "Counter"
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+        "box_1_island_group": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000015/ep_meta.json

@@ -0,0 +1,389 @@
+{
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+            "cls": "Microwave"
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+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
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+            "cls": "ToasterOven"
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+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
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+        "sink_right_group": {
+            "cls": "Sink"
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+        "counter_1_right_group": {
+            "cls": "Counter"
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+        "stack_1_right_group_base": {
+            "cls": "Box"
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+            "cls": "Dishwasher"
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+            "cls": "Drawer"
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+        -1.3435886114798734e-07
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000022/ep_meta.json

@@ -0,0 +1,418 @@
+{
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+    "style_id": 15,
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+                    "fruit",
+                    "food",
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+            "cls": "Box"
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+            "cls": "Counter"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000032/ep_meta.json

@@ -0,0 +1,387 @@
+{
+    "layout_id": 30,
+    "style_id": 27,
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+            "obj_groups": "fruit",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_3/model.xml"
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+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
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+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
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+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "cab_1_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "blender_right_group": {
+            "cls": "Blender"
+        },
+        "blender_right_group_auxiliary_right_group": {
+            "cls": "BlenderLid"
+        },
+        "dining_front_group": {
+            "cls": "Counter"
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+        "box_front_group": {
+            "cls": "Box"
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+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_front_group_base": {
+            "cls": "Box"
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+        "stack_2_front_group_1": {
+            "cls": "Drawer"
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+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_4": {
+            "cls": "Drawer"
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+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
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+                0,
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+    "init_robot_base_pos": [
+        2.9961965811355102,
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+        -1.3435886114798734e-07
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000039/ep_meta.json

@@ -0,0 +1,366 @@
+{
+    "layout_id": 59,
+    "style_id": 15,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "fruit",
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+                    0
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+            "type": "object",
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+                    "all",
+                    "peach",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "fruit"
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+                "cat": "peach",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_0/model.xml"
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+        "wall_main_1_backing_room": {
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_left_02_backing_room": {
+            "cls": "Wall"
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+        "wall_left_03_room": {
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+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
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+        "wall_left_04_room": {
+            "cls": "Wall"
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+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
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+        "floor_1_backing_room": {
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+        "floor_2_room": {
+            "cls": "Floor"
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+            "cls": "WallAccessory"
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+        "island_island_group_1": {
+            "cls": "Counter"
+        },
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+        "blender_island_group_1_auxiliary_island_group_1": {
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+            "cls": "SingleCabinet"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
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+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
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+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_agentview_left": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000044/ep_meta.json

@@ -0,0 +1,448 @@
+{
+    "layout_id": 24,
+    "style_id": 13,
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+                "groups_containing_sampled_obj": [
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+                    "orange",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1"
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+                    "fruit"
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+                "cat": "orange",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
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+            "cls": "Window"
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+        "window_group_2_room": {
+            "cls": "Window"
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+            "cls": "Drawer"
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+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "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_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
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+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        0.0,
+        4.712388892961913
+    ]
+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000062/ep_meta.json

@@ -0,0 +1,408 @@
+{
+    "layout_id": 26,
+    "style_id": 42,
+    "object_cfgs": [
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+            "obj_groups": "fruit",
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+            "type": "object",
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peach",
+                    "fruit",
+                    "food",
+                    "in_container"
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+                "groups": [
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+                "cat": "peach",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml"
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+        "wall_left_1_backing_room": {
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+        "wall_main_room": {
+            "cls": "Wall"
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+        "wall_main_backing_room": {
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+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_front_1_room": {
+            "cls": "Wall"
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+        "wall_front_1_backing_room": {
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "wall_accessory_1_room": {
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+        "light_switch_1_room": {
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+        "wall_accessory_2_room": {
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+        "light_switch_2_room": {
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+            "cls": "Drawer"
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+            "cls": "OpenCabinet"
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+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
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+            "cls": "BlenderLid"
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+            "cls": "Counter"
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+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
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+        "dishwasher_front_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
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+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
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+        },
+        "cab_1_front_group": {
+            "cls": "HingeCabinet"
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+        },
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+            "cls": "Drawer"
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+            "cls": "Box"
+        },
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+            "cls": "SingleCabinet"
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+            "cls": "Drawer"
+        },
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+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "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"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
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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_000063/ep_meta.json

@@ -0,0 +1,393 @@
+{
+    "layout_id": 57,
+    "style_id": 24,
+    "object_cfgs": [
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+            "obj_groups": "fruit",
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+            "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_10/model.xml"
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+                "name": "int"
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+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+            "cls": "Toaster"
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+        },
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+        "bottom_main_group_1_base": {
+            "cls": "Box"
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+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
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+            "cls": "Microwave"
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+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+        "top_main_group_1": {
+            "cls": "HingeCabinet"
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+        "singlecabinet_2_left_group_1": {
+            "cls": "SingleCabinet"
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+        "cube_4_left_group_1": {
+            "cls": "Box"
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+            "cls": "Counter"
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+        "counter_2_left_group_1": {
+            "cls": "Counter"
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+        "stack_04_left_group_1_base": {
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+        "stack_04_left_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_05_left_group_1_base": {
+            "cls": "Box"
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+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_10_left_group_1": {
+            "cls": "Box"
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+        "cube_11_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
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+        "blender_island_group_1_auxiliary_island_group_1": {
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+            "cls": "Box"
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+        "stack_09_island_group_2_2": {
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+            "cls": "Box"
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+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_10_island_group_2_2": {
+            "cls": "Drawer"
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+        "stack_11_island_group_2_base": {
+            "cls": "Box"
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+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
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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_000066/ep_meta.json

@@ -0,0 +1,348 @@
+{
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+                    "pear",
+                    "fruit",
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000071/ep_meta.json

@@ -0,0 +1,447 @@
+{
+    "layout_id": 24,
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+                "cat": "pear",
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+        "wall_main_1_room": {
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+        "floor_1_room": {
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+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "window_group_1_room": {
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+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
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+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
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+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "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_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the blender by pressing the power button.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_agentview_left": {
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+                0.29935253,
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+                -0.6775092
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+                0.95
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        2.538609378388034,
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+        0.0,
+        4.712388892961913
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000072/ep_meta.json

@@ -0,0 +1,372 @@
+{
+    "layout_id": 11,
+    "style_id": 55,
+    "object_cfgs": [
+        {
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+            "obj_groups": "fruit",
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "kiwi",
+                    "fruit",
+                    "food",
+                    "in_container"
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+                    "fruit"
+                ],
+                "cat": "kiwi",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml"
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+        "wall_left_1_backing_room": {
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+        "wall_main_room": {
+            "cls": "Wall"
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+        "wall_main_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
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+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_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"
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "light_switch_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
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+            "cls": "SingleCabinet"
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+        "stack_3_main_group_1": {
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+            "cls": "HingeCabinet"
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+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
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+        "cab_3_main_group": {
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+        "counter_stack_main_group_base": {
+            "cls": "Box"
+        },
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+            "cls": "SingleCabinet"
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+        "counter_stack_main_group_2": {
+            "cls": "SingleCabinet"
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+            "cls": "BlenderLid"
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+        "sink_left_group": {
+            "cls": "Sink"
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+            "cls": "Counter"
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+            "cls": "Box"
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+            "cls": "Dishwasher"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
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+            "cls": "Box"
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+        },
+        "box_left_group": {
+            "cls": "Box"
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+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
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+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "dining_dining_group": {
+            "cls": "Counter"
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+    },
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+    "fixture_refs": {},
+    "cam_configs": {
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+        },
+        "robot0_agentview_left": {
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+                1.05
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+                0.29935253,
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000080/ep_meta.json

@@ -0,0 +1,574 @@
+{
+    "layout_id": 25,
+    "style_id": 19,
+    "object_cfgs": [
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+            "obj_groups": "fruit",
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+            "placement": {
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "orange",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "fruit"
+                ],
+                "cat": "orange",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml"
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_room": {
+            "cls": "Wall"
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+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
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+        "window_group_1_room": {
+            "cls": "Window"
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+        "window_group_2_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "blender_right_group": {
+            "cls": "Blender"
+        },
+        "blender_right_group_auxiliary_right_group": {
+            "cls": "BlenderLid"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "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": [
+        4.380286825175036,
+        -3.777836247850471,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000083/ep_meta.json

@@ -0,0 +1,393 @@
+{
+    "layout_id": 48,
+    "style_id": 60,
+    "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",
+                    "pear",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "fruit"
+                ],
+                "cat": "pear",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_1/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.012516859905058835,
+                    0.006872456330833544,
+                    0.014214094964702528
+                ],
+                "size": [
+                    0.09936384955754798,
+                    0.09936384955754798
+                ],
+                "height": 0.11916880399278187,
+                "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"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_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"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "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_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "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.",
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pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000086/ep_meta.json

@@ -0,0 +1,405 @@
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pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000099/ep_meta.json

@@ -0,0 +1,401 @@
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+}

pretrain/atomic/TurnOnBlender/20250822/lerobot/extras/episode_000101/ep_meta.json

@@ -0,0 +1,444 @@
+{
+    "layout_id": 56,
+    "style_id": 57,
+    "object_cfgs": [
+        {
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+            "obj_groups": "fruit",
+            "object_scale": 0.8,
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+            "info": {
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+                    "all",
+                    "pear",
+                    "fruit",
+                    "food",
+                    "in_container"
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+                ],
+                "cat": "pear",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_11/model.xml"
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+        "wall_right_1_backing_room": {
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
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+        "wallaccessory_3_room": {
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+        "wallaccessory_4_room": {
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+        "lightswitch_02_room": {
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+        "lightswitch_03_room": {
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+        },
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+        "toaster_oven_main_group_1": {
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
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+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
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+        "oven_cabinet_right_group_1": {
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+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
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+        "top_right_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_2_right_group_1": {
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+        "toaster_right_group_1": {
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+}