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pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000012/ep_meta.json

@@ -0,0 +1,379 @@
+{
+    "layout_id": 11,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_1_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
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+                    [
+                        0.7853981633974483,
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+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan007/model.xml"
+            },
+            "reset_region": {
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+                    0.4390424604150111
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "rear_left"
+            }
+        }
+    ],
+    "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"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_1_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_main_group_2": {
+            "cls": "Drawer"
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+        "stack_4_main_group_base": {
+            "cls": "Box"
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+        "stack_4_main_group_1": {
+            "cls": "Drawer"
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+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "counter_stack_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "panel_cab_left_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_left_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "dining_dining_group": {
+            "cls": "Counter"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
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+                1.05
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000020/ep_meta.json

@@ -0,0 +1,419 @@
+{
+    "layout_id": 33,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
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+                "size": [
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+                    0.02
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+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
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+                    0.1
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+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
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+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_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_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_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"
+        },
+        "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_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
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+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
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+        "cube_3_island_group_1": {
+            "cls": "Box"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
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+    "lang": "Turn off the rear left burner of the stove.",
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.1323365438271265,
+        -0.9063882683714639,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000029/ep_meta.json

@@ -0,0 +1,404 @@
+{
+    "layout_id": 53,
+    "style_id": 35,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot060/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.18988406409958983,
+                    0.1853399893304247,
+                    0.45384259347784334
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "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_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_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"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_6_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_4_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_9_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_9_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.884780969040101,
+        -3.5461390635009202,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001513629834557495
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000030/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 57,
+    "style_id": 43,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.16646512280112433,
+                    -0.09055386345125134,
+                    0.4619347540804282
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "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_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_9_main_group_1": {
+            "cls": "Box"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_10_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        -2.2012480544435316,
+        -3.470535359981269,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000031/ep_meta.json

@@ -0,0 +1,413 @@
+{
+    "layout_id": 27,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_front_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1800034429929901,
+                    0.1543295574593578,
+                    0.4390424604150111
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "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_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "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"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_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"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.101595420722928,
+        -1.9823242823397227,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "rear_right"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000036/ep_meta.json

@@ -0,0 +1,452 @@
+{
+    "layout_id": 56,
+    "style_id": 25,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.00021140564751492624,
+                    0.15476023316796525,
+                    0.44016840716083067
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_center"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "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"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "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"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "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": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "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": {
+            "cls": "Counter"
+        },
+        "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": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0800783812877075,
+        -0.9397687492298086,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_center"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000041/ep_meta.json

@@ -0,0 +1,374 @@
+{
+    "layout_id": 59,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.004914930787441105,
+                    0.16063501550752776,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_center"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_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_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.546471548581871,
+        -1.0340768349016793,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707888166096549
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_center"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000043/ep_meta.json

@@ -0,0 +1,419 @@
+{
+    "layout_id": 46,
+    "style_id": 15,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_10/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.30271003301181176,
+                    0.10064760959071105,
+                    0.44502492221858164
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "cube_1_dining_area_group": {
+            "cls": "Box"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_front_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_front_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_front_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                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
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.021081236829878,
+        -1.009476799286687,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000045/ep_meta.json

@@ -0,0 +1,355 @@
+{
+    "layout_id": 44,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1699797087870866,
+                    -0.06931179988533402,
+                    0.471831195327171
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_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"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.6424289033840678,
+        -1.6841604409795505,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_right"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000050/ep_meta.json

@@ -0,0 +1,418 @@
+{
+    "layout_id": 46,
+    "style_id": 38,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "saucepan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.29448728599192897,
+                    0.2146981632324575,
+                    0.45524094270582643
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "cube_1_dining_area_group": {
+            "cls": "Box"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_front_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_front_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_front_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.043496860285383,
+        -1.0109225819593466,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "rear_right"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000051/ep_meta.json

@@ -0,0 +1,452 @@
+{
+    "layout_id": 56,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2377952079482478,
+                    -0.11952500198612931,
+                    0.45664184230975824
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "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"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "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"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "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": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "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": {
+            "cls": "Counter"
+        },
+        "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": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.956796485400211,
+        -0.9219742649222303,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000077/ep_meta.json

@@ -0,0 +1,425 @@
+{
+    "layout_id": 51,
+    "style_id": 20,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot059/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1763172679128117,
+                    0.1573408155818936,
+                    0.4799969710344246
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.281657539421078,
+        -0.8941181904979261,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "task_refs": {
+        "knob": "front_right",
+        "cookware_burner": "rear_right"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000085/ep_meta.json

@@ -0,0 +1,362 @@
+{
+    "layout_id": 41,
+    "style_id": 46,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot057/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1769749540436422,
+                    -0.09697025316399842,
+                    0.4799969710344246
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "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_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "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_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.691038460091724,
+        -3.501034815883123,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000090/ep_meta.json

@@ -0,0 +1,581 @@
+{
+    "layout_id": 25,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2561933150178933,
+                    -0.12491627813324865,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "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"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "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_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.7296124857331443,
+        -0.9487619377345325,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000091/ep_meta.json

@@ -0,0 +1,407 @@
+{
+    "layout_id": 47,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle001/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1699797087870866,
+                    -0.06931179988533402,
+                    0.471831195327171
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_03_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_05_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_05_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_02_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_01_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_04_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_4": {
+            "cls": "Drawer"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_front_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear right burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.354076709440884,
+        -0.9510037995223494,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378857158503
+    ],
+    "task_refs": {
+        "knob": "rear_right",
+        "cookware_burner": "front_right"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000094/ep_meta.json

@@ -0,0 +1,362 @@
+{
+    "layout_id": 41,
+    "style_id": 13,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle013/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.17202120747611915,
+                    -0.09538413197584153,
+                    0.45199089660907493
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "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_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "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_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.635824521450804,
+        -3.6915218172514384,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000095/ep_meta.json

@@ -0,0 +1,491 @@
+{
+    "layout_id": 20,
+    "style_id": 18,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot064/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2927691542318729,
+                    -0.13797423643339302,
+                    0.44950546976329364
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "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": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5195099186753858,
+        -0.9474985071713738,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000102/ep_meta.json

@@ -0,0 +1,461 @@
+{
+    "layout_id": 22,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_dining_area_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_center"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pot",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pot/Pot053/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.03170327089237661,
+                    0.14051257415730514,
+                    0.014643603891403078
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_center"
+            }
+        }
+    ],
+    "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"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_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"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_4_room": {
+            "cls": "Floor"
+        },
+        "floor_4_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "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"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "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": "Turn off the rear center burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0514270951165994,
+        -2.4163804470185597,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "rear_center",
+        "cookware_burner": "rear_center"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000103/ep_meta.json

@@ -0,0 +1,341 @@
+{
+    "layout_id": 55,
+    "style_id": 23,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.16961108907365305,
+                    -0.14769091467718246,
+                    0.3066376428402726
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgebottomfreezer_main_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_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_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "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_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_13_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_7_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_8_island_group_1": {
+            "cls": "Box"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the front left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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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": [
+        3.4815825262305564,
+        -1.0125231259591092,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706379572530664
+    ],
+    "task_refs": {
+        "knob": "front_left",
+        "cookware_burner": "front_left"
+    }
+}

pretrain/atomic/TurnOffStove/20250819/lerobot/extras/episode_000105/ep_meta.json

@@ -0,0 +1,428 @@
+{
+    "layout_id": 28,
+    "style_id": 37,
+    "object_cfgs": [
+        {
+            "name": "cookware",
+            "obj_groups": "cookware",
+            "placement": {
+                "fixture": "stovetop_island_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
+                    ],
+                    [
+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "cookware"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle018/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.15509513602728112,
+                    0.1346580744333919,
+                    0.020677267972846806
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        }
+    ],
+    "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"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_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"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "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"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_3": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_island_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "cube_island_group": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn off the rear left burner of the stove.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0615743305035372,
+        -1.74524783265473,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "task_refs": {
+        "knob": "rear_left",
+        "cookware_burner": "rear_left"
+    }
+}