Add files using upload-large-folder tool

pretrain/atomic/NavigateKitchen/20250821/lerobot/meta/embodiment.json

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+{
+    "robot_name": "PandaOmron",
+    "robot_type": "PandaOmron",
+    "record_frequency": 20.0,
+    "body_controller_frequency": 20.0,
+    "hand_controller_frequency": 20.0,
+    "embodiment_tag": "robocasa_panda_omron"
+}

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pretrain/atomic/NavigateKitchen/20250821/lerobot/meta/stats.json

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pretrain/atomic/NavigateKitchen/20250821/lerobot/meta/tasks.jsonl

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pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000006/ep_meta.json

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+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dining_dining_area_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
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+        "bottom_front_group_base": {
+            "cls": "Box"
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+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the steak from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "cab_1_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+                0.707107,
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+    },
+    "init_robot_base_pos": [
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+        0.0,
+        3.1415926193612504
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000016/ep_meta.json

@@ -0,0 +1,553 @@
+{
+    "layout_id": 22,
+    "style_id": 53,
+    "object_cfgs": [
+        {
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+            "graspable": true,
+            "placement": {
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kiwi",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "kiwi",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_2/model.xml"
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "yogurt",
+                    "dairy",
+                    "packaged_food",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "yogurt",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_0"
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+        {
+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
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+            "type": "object",
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+                "groups_containing_sampled_obj": [
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+                    "spray",
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+                "groups": [
+                    "all"
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+                "cat": "spray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/spray/Spray003/model.xml"
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+                "name": "level0"
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+        }
+    ],
+    "fixtures": {
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "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_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_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_2_room": {
+            "cls": "Wall"
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+        "wall_front_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_4_room": {
+            "cls": "Wall"
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+        "wall_main_4_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
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+        "floor_4_room": {
+            "cls": "Floor"
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+        "floor_4_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
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+        "stool_3_room": {
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+        "stool_4_room": {
+            "cls": "Stool"
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+        "stool_5_room": {
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+        "stool_6_room": {
+            "cls": "Stool"
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+        "sink_1_left_group": {
+            "cls": "Sink"
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+        "counter_1_left_group": {
+            "cls": "Counter"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
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+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
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+        "stack_2_left_group_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
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+        "stack_3_left_group_base": {
+            "cls": "Box"
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+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
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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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
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+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dining_dining_area_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
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+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
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+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
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+        "bottom_front_group_base": {
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+        "bottom_front_group_1": {
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+        "middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the kiwi from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "cab_1_left_group",
+        "counter": "counter_1_left_group"
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000017/ep_meta.json

@@ -0,0 +1,501 @@
+{
+    "layout_id": 21,
+    "style_id": 30,
+    "object_cfgs": [
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peeler",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "peeler",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler003/model.xml"
+            },
+            "reset_region": {
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+                "size": [
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+                    0.34
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+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_3_left_group",
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+                        0.0876179106044848,
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+                    1.0
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mango",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "mango",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mango/mango_10/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "cab_3_left_group",
+                "size": [
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+                    0.2
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "glass_cup",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup006/model.xml"
+            },
+            "reset_region": {
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+                    0.34
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+                "height": 0.2666666666666667,
+                "name": "level0"
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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_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_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"
+        },
+        "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"
+        },
+        "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"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "counter_3_left_group": {
+            "cls": "Counter"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the peeler from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "cab_3_left_group",
+        "counter": "counter_2_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+                0.95
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8358890844117849,
+        -2.637061366908415,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000034/ep_meta.json

@@ -0,0 +1,542 @@
+{
+    "layout_id": 56,
+    "style_id": 14,
+    "object_cfgs": [
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+            "type": "object",
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+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml"
+            },
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+                "name": "level0"
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+        {
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+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_3_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "opencabinet_2_main_group_1",
+                    "min_size": [
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+                        0.179997039,
+                        0.0131438484
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+                    -0.05
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "spoon",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "spoon",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_18/model.xml"
+            },
+            "reset_region": {
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+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cup",
+                    "receptacle",
+                    "stackable"
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+                "groups": [
+                    "all"
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+                "cat": "cup",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml"
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+                "name": "level0"
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+    "fixtures": {
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+        "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"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
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+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
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+        "stack_04_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_04_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_12_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_3_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
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+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cube_4_main_group_1": {
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+        },
+        "stack_11_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_9_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
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+        },
+        "counter_8_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
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+        },
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000042/ep_meta.json

@@ -0,0 +1,451 @@
+{
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_island_group_1_2": {
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+        "stack_2_island_group_1_1": {
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+        "stack_3_island_group_1_1": {
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000047/ep_meta.json

@@ -0,0 +1,563 @@
+{
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+            "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"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the cookie dough ball from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "cab_2_right_group_1",
+        "counter": "counter_1_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        "robot0_agentview_left": {
+            "pos": [
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+                0.35,
+                1.05
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+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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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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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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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": [
+        4.846751711360684,
+        -3.6066721630236076,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000054/ep_meta.json

@@ -0,0 +1,459 @@
+{
+    "layout_id": 36,
+    "style_id": 20,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "exclude_obj_groups": null,
+            "graspable": true,
+            "placement": {
+                "fixture": "hingecabinet_2_right_group_1",
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+                    0.2
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+                "pos": [
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+                    -1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "turmeric",
+                    "spice"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "turmeric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric002/model.xml"
+            },
+            "reset_region": {
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+                    -0.43
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+                "size": [
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+                    0.34
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+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "hingecabinet_2_right_group_1",
+                    "min_size": [
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+                        0.06382025779999997,
+                        0.06412384874999996
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+                "size": [
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+                    1.0
+                ],
+                "offset": [
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+                    -0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peach",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "peach",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_2/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                "offset": [
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+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "hingecabinet_2_right_group_1",
+                "size": [
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+                    0.2
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+                "pos": [
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+                    1.0
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+                    0.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "lemon_wedge",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml"
+            },
+            "reset_region": {
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+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        }
+    ],
+    "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"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_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_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "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_2_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the turmeric from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "hingecabinet_2_right_group_1",
+        "counter": "counter_2_right_group_1"
+    },
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000065/ep_meta.json

@@ -0,0 +1,510 @@
+{
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+    "style_id": 52,
+    "object_cfgs": [
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+                    "receptacle"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/placemat/Placemat001/model.xml"
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+            }
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+        {
+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
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+                    "vegetable",
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+                    "food_set1",
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+                    "all"
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+                "cat": "potato",
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+            "cls": "WallAccessory"
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+        "light_switch_2_room": {
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+        },
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+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
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+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "counter_1_main_group": {
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+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
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+        "fridge_housing_main_group": {
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+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
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+        "microwave_main_group": {
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+        "cab_2_main_group": {
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+        "cab_3_main_group": {
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+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "sink_1_front_group": {
+            "cls": "Sink"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_front_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
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+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
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+        "stack_1_right_group_1": {
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+        "cab_1_right_group": {
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+        "cab_2_right_group": {
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+            "cls": "CoffeeMachine"
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+        "toaster_right_group": {
+            "cls": "Toaster"
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+            "cls": "Accessory"
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+        "box_2_island_group": {
+            "cls": "Box"
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+    "gen_textures": {},
+    "lang": "Pick the steak from the cabinet and place it on the counter.",
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000067/ep_meta.json

@@ -0,0 +1,506 @@
+{
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+    "style_id": 38,
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+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_0/model.xml"
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+                "cat": "kiwi",
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
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+        "wall_main_3_backing_room": {
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+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_4_room": {
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+        "counter_1_main_group_1": {
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+        "counter_corner_1_main_group_1": {
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+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
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+        "cube_1_main_group_1": {
+            "cls": "Box"
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+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the milk from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "hingecabinet_2_right_group_1",
+        "counter": "counter_1_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
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+        "robot0_agentview_right": {
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+        "robot0_frontview": {
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+                0.95
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.403202923611319,
+        -1.260285914087646,
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+    "init_robot_base_ori": [
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+        0.0,
+        0.00030199704781619374
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+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000088/ep_meta.json

@@ -0,0 +1,537 @@
+{
+    "layout_id": 23,
+    "style_id": 28,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "exclude_obj_groups": null,
+            "graspable": true,
+            "placement": {
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+                    0.2
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "shrimp",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml"
+            },
+            "reset_region": {
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+                "name": "level0"
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+        {
+            "name": "distr_counter",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
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+                        0.08350984289999998,
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "lemon",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_15/model.xml"
+            },
+            "reset_region": {
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+                    -3.469446951953614e-17,
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+                "name": "geom_0"
+            }
+        },
+        {
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+            "obj_groups": "all",
+            "placement": {
+                "fixture": "cab_2_main_group",
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+                    0.2
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "straw",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw004/model.xml"
+            },
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+                    0.34
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+                "height": 0.2666666666666667,
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+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "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"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_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"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1": {
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+        "stack_3_main_group_base": {
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+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
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+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
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+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "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": "HingeCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
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+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
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+        "bottom_right_group_base": {
+            "cls": "Box"
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+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
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+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
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+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
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+        "island_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_box_island_group": {
+            "cls": "Box"
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+        "island_2_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_base": {
+            "cls": "Box"
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+        "panel_stack_1_island_group_1": {
+            "cls": "PanelCabinet"
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+        "stack_1_island_group_base": {
+            "cls": "Box"
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+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_island_group_base": {
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+        "stack_2_island_group_1": {
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+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the shrimp from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "cab_2_main_group",
+        "counter": "counter_1_main_group"
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+    ]
+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000089/ep_meta.json

@@ -0,0 +1,563 @@
+{
+    "layout_id": 49,
+    "style_id": 44,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
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+            "info": {
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+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
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+                    "all"
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+                "cat": "lemon",
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+        {
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+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "sample_region_kwargs": {
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+                    "min_size": [
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+                        0.24264519999999998,
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "wooden_spoon",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "wooden_spoon",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon005/model.xml"
+            },
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+        },
+        {
+            "name": "distr_cab",
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "candle",
+                    "decoration"
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+                "groups": [
+                    "all"
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+                "cat": "candle",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_15/model.xml"
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+    ],
+    "fixtures": {
+        "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_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_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"
+        },
+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_11_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_13_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": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgefrenchdoor_left_group_2": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_2": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_14_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_14_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_14_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_15_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_15_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_15_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_5_front_group_1": {
+            "cls": "Box"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "stack_10_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_10_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_09_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_08_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the lemon from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "hingecabinet_3_main_group_1",
+        "counter": "counter_2_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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+                0.0,
+                1.15
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
+                1.05
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+            "quat": [
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "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": [
+        4.886963099486211,
+        -1.1249223631081697,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706449309965886
+    ]
+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000098/ep_meta.json

@@ -0,0 +1,586 @@
+{
+    "layout_id": 20,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "exclude_obj_groups": null,
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_left_group",
+                "size": [
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+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "apple",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_12/model.xml"
+            },
+            "reset_region": {
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+                    -0.43
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+                "size": [
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+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_left_group",
+                    "min_size": [
+                        0.12097239,
+                        0.12117099,
+                        0.0202998
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+                "size": [
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+                    0.3
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+                    1.0
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+                "offset": [
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+                    -0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "sandwich_bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread006/model.xml"
+            },
+            "reset_region": {
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+                    -1.1234999999999995,
+                    -3.469446951953614e-17,
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "cab_2_left_group",
+                "size": [
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "croissant",
+                    "pastry",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "croissant",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_10/model.xml"
+            },
+            "reset_region": {
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+                "size": [
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+                "height": 0.2666666666666667,
+                "name": "level0"
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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_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_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"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "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_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the apple from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "cab_2_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "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
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+            "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": [
+        0.7974946143737386,
+        -3.600354969195066,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/PickPlaceCabinetToCounter/20250819/lerobot/extras/episode_000104/ep_meta.json

@@ -0,0 +1,502 @@
+{
+    "layout_id": 31,
+    "style_id": 45,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "exclude_obj_groups": null,
+            "graspable": true,
+            "placement": {
+                "fixture": "hingecabinet_2_right_group_1",
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "canned_food",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "canned_food",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_17/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.79,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "hingecabinet_2_right_group_1",
+                    "min_size": [
+                        0.13548242,
+                        0.08216571749999999,
+                        0.046328024999999995
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
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+                "pos": [
+                    0.0,
+                    1.0
+                ],
+                "offset": [
+                    0.0,
+                    -0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "turkey_slice"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "turkey_slice",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice004/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3999999999999986,
+                    0.65
+                ],
+                "offset": [
+                    -0.9749999999999992,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_cab",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "hingecabinet_2_right_group_1",
+                "size": [
+                    1.0,
+                    0.2
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+                "pos": [
+                    0.0,
+                    1.0
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+                "offset": [
+                    0.0,
+                    0.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "basket",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "basket",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/basket/Basket037/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    -0.43
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+                "size": [
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+                    0.34
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+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        }
+    ],
+    "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_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"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridgebottomfreezer_main_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "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": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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"
+        },
+        "cube_6_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_7_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the canned food from the cabinet and place it on the counter.",
+    "fixture_refs": {
+        "cab": "hingecabinet_2_right_group_1",
+        "counter": "counter_1_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+}