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pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000000/ep_meta.json

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+{
+    "layout_id": 42,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffeemachine_main_group_1",
+                    "min_size": [
+                        0.07693444709999998,
+                        0.105,
+                        0.0893758425
+                    ]
+                },
+                "size": [
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+                    0.4
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+                "pos": [
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+                    -1.0
+                ],
+                "rotation": [
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+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
+                ],
+                "offset": [
+                    0.008401329690366666,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "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"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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+                0.0,
+                1.15
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+                1.05
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+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    },
+    "init_robot_base_pos": [
+        3.941229337175995,
+        -0.7915669248016896,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000001/ep_meta.json

@@ -0,0 +1,450 @@
+{
+    "layout_id": 24,
+    "style_id": 23,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group",
+                    "min_size": [
+                        0.07044020865,
+                        0.10500000000000001,
+                        0.0910104657
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.4
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.9031081811266906,
+                    0.65
+                ],
+                "offset": [
+                    0.15794590943665465,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "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"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "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": "Drawer"
+        },
+        "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": "SingleCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
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+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000008/ep_meta.json

@@ -0,0 +1,411 @@
+{
+    "layout_id": 31,
+    "style_id": 39,
+    "object_cfgs": [
+        {
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+            "obj_groups": "mug",
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+                    "mug",
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+    "fixtures": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+            "cls": "Wall"
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+        "wall_main_3_room": {
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+            "cls": "Floor"
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+        "oven_housing_main_group_1": {
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+            "cls": "Counter"
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+        "stack_4_right_group_1_1": {
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+            "cls": "Drawer"
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+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+        "papertowel_right_group_1": {
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+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "sink_island_group_1": {
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+        "island_island_group_1": {
+            "cls": "Counter"
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+        "cube_2_island_group_1": {
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+            "cls": "Box"
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+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_1_island_group_1_3": {
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1_1": {
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+        "stack_3_island_group_1_base": {
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+        "stack_4_island_group_1_base": {
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+        "stack_4_island_group_1_1": {
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+            "cls": "Drawer"
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+            "cls": "Dishwasher"
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+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000011/ep_meta.json

@@ -0,0 +1,330 @@
+{
+    "layout_id": 37,
+    "style_id": 14,
+    "object_cfgs": [
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+            "obj_groups": "mug",
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+                    "all",
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+                    "stackable",
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+            "cls": "CoffeeMachine"
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+        "stack_2_island_group_1_base": {
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+            "cls": "SingleCabinet"
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+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
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+    },
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+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
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+            "parent_body": "mobilebase0_support"
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+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
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+    "init_robot_base_pos": [
+        0.8052345102429129,
+        -1.316415399834337,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000024/ep_meta.json

@@ -0,0 +1,417 @@
+{
+    "layout_id": 50,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_4_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_right_group_1",
+                    "min_size": [
+                        0.107013285,
+                        0.12613161625,
+                        0.0628187925
+                    ]
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+                "size": [
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+                    0.4
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+                "pos": [
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+                    -1.0
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+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_10/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
+                    -0.0003496339802140369,
+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_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_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "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_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"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_09_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_01_island_group_1": {
+            "cls": "Box"
+        },
+        "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_07_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_12_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "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_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_02_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                -0.2993525564670563,
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0.95
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+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.442121594218832,
+        -3.189959689368731,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001619848215634878
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000025/ep_meta.json

@@ -0,0 +1,492 @@
+{
+    "layout_id": 29,
+    "style_id": 35,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_left_group",
+                    "min_size": [
+                        0.07856355179999999,
+                        0.115,
+                        0.09038899835
+                    ]
+                },
+                "size": [
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+                    0.4
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+                "pos": [
+                    "ref",
+                    -1.0
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+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8649688285980668,
+                    0.65
+                ],
+                "offset": [
+                    -0.7074844142990333,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_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_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_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "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": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "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": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "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
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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
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+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.1984113742026759,
+        -4.8466307965330975,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000027/ep_meta.json

@@ -0,0 +1,375 @@
+{
+    "layout_id": 11,
+    "style_id": 44,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_left_group",
+                    "min_size": [
+                        0.0786316751,
+                        0.11,
+                        0.0912749266
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.4
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.476631195107585,
+                    0.65
+                ],
+                "offset": [
+                    -0.6458914756849083,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "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"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_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": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "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
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+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7977092186494672,
+        -2.4494373385775643,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000028/ep_meta.json

@@ -0,0 +1,426 @@
+{
+    "layout_id": 18,
+    "style_id": 31,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_left_group",
+                    "min_size": [
+                        0.07856355179999999,
+                        0.115,
+                        0.09038899835
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.4
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9205763550336508,
+                    0.65
+                ],
+                "offset": [
+                    0.9002932916727233,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "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_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_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"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "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"
+        },
+        "stack_2_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "wall_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
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+                1.15
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+            "quat": [
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+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7932029330842648,
+        -3.463952663959673,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.141592787948654
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000033/ep_meta.json

@@ -0,0 +1,309 @@
+{
+    "layout_id": 40,
+    "style_id": 52,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffeemachine_main_group_1",
+                    "min_size": [
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+                        0.11760505384175522,
+                        0.09676658210000001
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
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+                    0.46
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+            }
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+    "fixtures": {
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+            "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"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
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+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+        "counter_1_main_group_1": {
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+            "cls": "Box"
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+        "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": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_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"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5919742096816933,
+        -0.7732089128107273,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000048/ep_meta.json

@@ -0,0 +1,414 @@
+{
+    "layout_id": 33,
+    "style_id": 22,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_2_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_right_group_1",
+                    "min_size": [
+                        0.07592543463846713,
+                        0.11760505384175522,
+                        0.09676658210000001
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+                    1.5707963267948966
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_15/model.xml"
+            },
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+                    0.65
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+                    0.0,
+                    0.46
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+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
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+        "counter_2_right_group_1": {
+            "cls": "Counter"
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+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_base": {
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_right_group_1_2": {
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+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "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"
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+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
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+        "stack_2_main_group_1_1": {
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+        },
+        "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": {
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+        },
+        "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": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
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+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.867963496718171,
+        -2.3446204247710467,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000053/ep_meta.json

@@ -0,0 +1,339 @@
+{
+    "layout_id": 52,
+    "style_id": 59,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_3_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group_1",
+                    "min_size": [
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+                        0.1099989572,
+                        0.0965910044
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+                    1.5707963267948966
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml"
+            },
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+                    0.46
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+    "fixtures": {
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+            "cls": "Wall"
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+        "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_front_1.001_room": {
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+        "wall_front_1.001_backing_room": {
+            "cls": "Wall"
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+        "wall_front_2.002_room": {
+            "cls": "Wall"
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+        "wall_front_2.002_backing_room": {
+            "cls": "Wall"
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+        "wall_front_3.003_room": {
+            "cls": "Wall"
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+        "wall_front_3.003_backing_room": {
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
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+            "cls": "Counter"
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+            "cls": "Stove"
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+        "stack_04_main_group_1_base": {
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+        "stack_04_main_group_1_1": {
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+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
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+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
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+        "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": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_01_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_left_group_1_1": {
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+        },
+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
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+        "stack_05_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgebottomfreezer_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
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+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
+                0
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+            "quat": [
+                0,
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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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+        1.5706272411567803
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+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000060/ep_meta.json

@@ -0,0 +1,468 @@
+{
+    "layout_id": 17,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group_1",
+                    "min_size": [
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+                        0.115,
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+                    1.5707963267948966
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+        "stovetop_main_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
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+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
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+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
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+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
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+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
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+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+        },
+        "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
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "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": [
+        3.6920839717744687,
+        -0.8188628270350459,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000071/ep_meta.json

@@ -0,0 +1,486 @@
+{
+    "layout_id": 20,
+    "style_id": 46,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group",
+                    "min_size": [
+                        0.07876715879999999,
+                        0.1099989572,
+                        0.0965910044
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.4
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+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6951311650241623,
+                    0.65
+                ],
+                "offset": [
+                    0.28743441748791887,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "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
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+                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
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.4344716697600755,
+        -0.8161201837186965,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000072/ep_meta.json

@@ -0,0 +1,414 @@
+{
+    "layout_id": 46,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group_1",
+                    "min_size": [
+                        0.0786316751,
+                        0.11,
+                        0.0912749266
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.4
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+                "pos": [
+                    "ref",
+                    -1.0
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+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8659871844477458,
+                    0.65
+                ],
+                "offset": [
+                    0.4155244077761271,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "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": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+                0.95
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.74770964329026,
+        -0.9415374053779749,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000073/ep_meta.json

@@ -0,0 +1,339 @@
+{
+    "layout_id": 52,
+    "style_id": 16,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_3_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group_1",
+                    "min_size": [
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+                        0.12499686375,
+                        0.059570236250000005
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+                    1.5707963267948966
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+            },
+            "type": "object",
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_12/model.xml"
+            },
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+                    0.46
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+            }
+        }
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+    "fixtures": {
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+            "cls": "Wall"
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+        "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_front_1.001_room": {
+            "cls": "Wall"
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+        "wall_front_1.001_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2.002_room": {
+            "cls": "Wall"
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+        "wall_front_2.002_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3.003_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3.003_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
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+        "cube_5_main_group_1": {
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+        "hingecabinet_2_main_group_1": {
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+        "singlecabinet_2_main_group_1": {
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+        "counter_corner_1_main_group_1": {
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+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
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+        "counter_2_main_group_1": {
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+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
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+        "stack_04_main_group_1_base": {
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+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
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+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_01_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "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_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgebottomfreezer_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_agentview_left": {
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+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
+            ],
+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.2830541753235587,
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+        0.0,
+        1.5706272411567803
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+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000074/ep_meta.json

@@ -0,0 +1,369 @@
+{
+    "layout_id": 59,
+    "style_id": 12,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group_1",
+                    "min_size": [
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_1/model.xml"
+            },
+            "reset_region": {
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+                    0.46
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+            }
+        }
+    ],
+    "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"
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+        "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"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "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"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "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": {
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+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
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+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "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": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "quat": [
+                0,
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+                0.707107,
+                0
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+    "init_robot_base_pos": [
+        5.727225829348513,
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+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707888166096549
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000076/ep_meta.json

@@ -0,0 +1,417 @@
+{
+    "layout_id": 50,
+    "style_id": 15,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_4_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_right_group_1",
+                    "min_size": [
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+                        0.11,
+                        0.0912749266
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+                    1.5707963267948966
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_13/model.xml"
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+                    0.46
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+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3.001_room": {
+            "cls": "Wall"
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+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "window_group_2_room": {
+            "cls": "Window"
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+        "window_group_3_room": {
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+        "stack_03_main_group_1_base": {
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+        "stack_03_main_group_1_1": {
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+        "dishwasher_1_main_group_1": {
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+        "papertowel_main_group_1": {
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+        "stack_10_island_group_1_1": {
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+            "cls": "Drawer"
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+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
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+        "plant_island_group_1": {
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+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
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+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
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+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "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_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
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+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
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+        "stove_right_group_1": {
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+        },
+        "stove_hood_right_group_1": {
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+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_02_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the mug from the counter and place it under the coffee machine dispenser.",
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000084/ep_meta.json

@@ -0,0 +1,447 @@
+{
+    "layout_id": 56,
+    "style_id": 16,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
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+                "fixture": "counter_3_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group_1",
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+            "type": "object",
+            "info": {
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+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml"
+            },
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+                    0.46
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+                "name": "geom_0"
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+    "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"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stack_13_island_group_2_base": {
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+        "stack_13_island_group_2_1": {
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+        "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": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "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": [
+        1.070778616800064,
+        -0.846484224885878,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ]
+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000092/ep_meta.json

@@ -0,0 +1,576 @@
+{
+    "layout_id": 25,
+    "style_id": 33,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_main_group",
+                    "min_size": [
+                        0.07876715879999999,
+                        0.1099989572,
+                        0.0965910044
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.4
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_17/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8312954468163047,
+                    0.65
+                ],
+                "offset": [
+                    0.30785227659184766,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "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": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/CoffeeSetupMug/20250819/lerobot/extras/episode_000100/ep_meta.json

@@ -0,0 +1,399 @@
+{
+    "layout_id": 53,
+    "style_id": 37,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "placement": {
+                "fixture": "counter_3_front_group_1",
+                "sample_region_kwargs": {
+                    "ref": "coffee_machine_front_group_1",
+                    "min_size": [
+                        0.07693444709999998,
+                        0.105,
+                        0.0893758425
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+                    0.4
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+                    -1.0
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+                "rotation": [
+                    0.7853981633974483,
+                    1.5707963267948966
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_11/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
+                    -0.024093613603836772,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "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"
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+        "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": "Pick the mug from the counter and place it under the coffee machine dispenser.",
+    "fixture_refs": {},
+    "cam_configs": {
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+}